Compact nut automatic tightening equipment

Abstract

The application belongs to the technical field of automatic assembly, and particularly relates to a compact nut automatic tightening equipment. The compact nut automatic tightening equipment comprises a tool lifting system, a tool horizontal feeding system, an indexing positioning system, a tightening core system and a supporting system. The tool horizontal feeding system, the indexing positioning system and the tool lifting system are sequentially connected from top to bottom. The tightening core system is connected with the horizontal feeding system. The tool lifting system is used for completing lifting movement of the tightening core system. The tool horizontal feeding system is used for completing horizontal feeding of the tightening core system. The indexing positioning system is used for completing rotation indexing of the tightening core system. The tightening core system is used for completing power closed-loop output of tightening. The supporting system is used for completing support of the bottom blade disc axis surface of the engine rear shaft by the tightening core system. The application has the characteristics of high automation degree and high motion precision, avoids manual misoperation, and guarantees the consistency, high tightening precision and high tightening efficiency of each nut.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly technology, and specifically relates to a compact space automatic nut tightening device. Background Technology

[0002] In the assembly of aero-engine core components, the multi-stage blades of the high-pressure compressor rotor are fastened by dozens of threaded fasteners evenly distributed along the circumference of the axis, thus assembling the main structure of the high-pressure rotor. This assembly process is typically conducted in confined spaces. For some models, the nuts in the threaded fasteners are rear-mounted nut type with a toothed disc, located behind the toothed disc. The contact end faces the rear mounting edge of the high-pressure turbine rotor and tightens. The connecting bolts are special D-bolts with axial limiting and angular locking functions. Since the high-pressure rotor is the core power component of the aero-engine, it operates under high temperature and high pressure external load conditions, with speeds reaching up to 18,000 rpm and bearing axial loads of 30-40 tons. The connection between the high-pressure compressor rotor and the high-pressure turbine rotor is a critical and vulnerable location; therefore, the tightening quality of the threaded fasteners is a crucial factor affecting assembly performance and the overall reliability of the engine.

[0003] During the assembly of the high-pressure rotor, the main assembly processes are completed sequentially, including bolt pre-installation, component docking, and fastening. For the fastening process, nuts need to be installed and tightened inside the high-pressure rotor. The space occupied by the tightening inside the high-pressure rotor varies depending on the engine model, but all are characterized by a narrow and elongated spatial layout. The axial depth distance of the nut relative to the rear shaft port of the high-pressure turbine rotor is 600-800mm, the inner diameter of the channel of the rear shaft of the high-pressure turbine rotor is φ90-150mm, and the diameter of the nut distribution is φ200-400mm. The operation of the tightening mechanism presents challenges such as a long feed channel, small tightening space, and interference in multiple areas. Currently, the traditional method mainly relies on manual operation by using slender tightening tools for deep insertion, deflection and tightening. There are no successful cases of automated dedicated tightening equipment, which has the following shortcomings: (1) Poor assembly quality consistency: The method of manually operating mechanical tooling to place the nuts has problems such as nut installation offset and tilting, which cannot guarantee the tightening consistency of each nut; the current application devices are mostly slender rod-shaped structures with low overall rigidity and poor anti-torsion effect, which leads to deformation of the device under load during the tightening process, affecting the tightening quality; (2) Low assembly accuracy: The current application devices mainly use When using manual torque devices or external torque systems as tightening power input, closed-loop detection cannot be achieved during the tightening process. The actual torque and screw-in angle of the nut deviate greatly from the values ​​measured by the remote sensor, and there are random errors that are difficult to compensate for, making it impossible to guarantee the tightening torque and rotation accuracy of the nut. (3) Low assembly efficiency: After the existing method completes the installation of the nut group and the first tightening, the second tightening usually requires the device to be repeatedly inserted and removed from the high-pressure rotor in order to complete the correct positioning of the nut relative to each corner phase of the tightening sleeve. The nut recognition action takes up a lot of time, and the efficiency of the second tightening operation is low. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention aims to provide a compact space automatic nut tightening device with good tightening quality consistency, high tightening accuracy, and high tightening efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a compact space automatic nut tightening device, including a tooling lifting system, a tooling horizontal feed system, an indexing and positioning system, a tightening central system, and a support system. The tooling horizontal feed system, the indexing and positioning system, and the tooling lifting system are connected sequentially from top to bottom. The tightening central system is connected to the horizontal feed system. The tooling lifting system is used to complete the lifting and lowering movement of the tightening central system. The tooling horizontal feed system is used to complete the horizontal feed of the tightening central system. The indexing and positioning system is used to complete the 360° rotation indexing of the tightening central system. The tightening central system is used to complete the closed-loop output of tightening power. The support system is used to support the components.

[0007] The tooling lifting system includes a lifting system drive cylinder, a lifting slide guide shaft, a lifting slide upper mounting plate, a lifting slide, a lifting limit block, and a tooling base. The lifting slide upper mounting plate, the lifting slide, and the tooling base are arranged parallel from top to bottom. Multiple lifting slide guide shafts pass through the lifting slide, and their two ends are fixedly connected to the lifting slide upper mounting plate and the tooling base, respectively. The lifting slide can slide up and down along the lifting slide guide shafts. The lifting system drive cylinder is located on the lifting slide, and its output end is connected to the lifting slide upper mounting plate. The lifting limit block is located on the tooling base and is used to limit the lifting slide.

[0008] The indexing positioning system includes an indexing drive pinion, an indexing driven gear, an indexing drive motor, an indexing bearing housing assembly, and a turntable. The turntable is positioned above the lifting slide and is rotatably connected to the lifting slide via the indexing bearing housing assembly. The indexing driven gear is coaxially fixed to the outside of the indexing bearing housing assembly. The indexing drive motor is positioned on the lifting slide, and its output end is connected to the indexing drive pinion. The indexing drive pinion meshes with the indexing driven gear. The indexing drive motor drives the indexing drive pinion to rotate, and the indexing driven gear drives the turntable to rotate around the axis of the indexing bearing housing assembly.

[0009] The tooling horizontal feed system includes a translation feed drive motor, a translation slide, a translation drive rack, and a ball guide slider mechanism. The translation drive rack and the ball guide slider mechanism are arranged parallel to each other on the turntable plate. The translation slide is connected to the ball guide slider mechanism. The translation feed drive motor is mounted on the translation slide and has a translation drive gear at its output end. The translation drive gear meshes with the translation drive rack. The translation feed drive motor provides power for the translation of the translation slide, and the ball guide slider mechanism provides guidance for the translation of the translation slide.

[0010] The tightening central system includes a folding drive mechanism, a tightening mandrel, a tightening power source lifting guide rail cylinder assembly, a rotary encoder and motor assembly, a tightening sleeve, a miniature torque sensor, and a tightening gearbox. The upper end of the tightening mandrel is connected to the tooling horizontal feed system, and the lower end is hinged to the tightening gearbox. The tightening sleeve is connected to the output shaft of the tightening gearbox via the miniature torque sensor. The folding drive mechanism is mounted on the tooling horizontal feed system and connected to the tightening gearbox, driving the tightening gearbox to fold and rotate. The tightening power source lifting guide rail cylinder assembly is mounted on the tightening mandrel and connected to the rotary encoder and motor assembly, driving the rotary encoder and motor assembly to rise and fall, thus enabling the transmission or disconnection of the power source between the rotary encoder and motor assembly and the input shaft of the tightening gearbox.

[0011] The folding drive mechanism includes a folding and flipping drive electric cylinder, a power transmission long connecting rod, and a folding connecting rod. The folding and flipping drive electric cylinder is mounted on the tooling horizontal feed system, and its output end is connected to the upper end of the power transmission long connecting rod. The lower end of the power transmission long connecting rod is hinged to the tightening gearbox through the folding connecting rod.

[0012] The support system includes a middle support mechanism and a bottom support mechanism. The middle support mechanism is connected to the tooling horizontal feed system and is located outside the tightening central system. The bottom support mechanism is located at the bottom of the tightening central system and is slidably connected to the middle support mechanism.

[0013] The central support mechanism includes a central support drive cylinder, a lifting slide sleeve assembly, a linkage mechanism, a lower support slide sleeve for the tightening mandrel, a bottom dovetail groove long slide rail, and a bottom gantry slide rail. The central support drive cylinder is mounted on the tooling horizontal feed system and outputs power vertically. The lifting slide sleeve assembly, linkage mechanism, lower support slide sleeve for the tightening mandrel, and bottom dovetail groove long slide rail are connected sequentially. The lifting slide sleeve assembly is connected to the output end of the central support drive cylinder. The lower support slide sleeve for the tightening mandrel is slidably connected to the tightening central system via the bottom gantry slide rail. The bottom dovetail groove long slide rail is slidably connected to the bottom support mechanism. The central support drive cylinder drives the linkage mechanism to open or close via the lifting slide sleeve assembly, thereby achieving central support.

[0014] The linkage mechanism includes a central support link, central support fingers, a central support fixed seat, and a central support guide optical shaft. The upper end of the central support guide optical shaft is slidably connected to the lifting sleeve assembly, and the lower end of the central support guide optical shaft is fixedly connected to the lower support sleeve of the tightening mandrel. The central support fixed seat is slidably connected to the central support guide optical shaft. Two central support fingers are symmetrically hinged on the central support fixed seat, and the two central support fingers are respectively hinged to the lifting sleeve assembly through two central support links. The central support fixed seat is slidably connected to the tightening central system through the waist sliding shaft of the tightening mandrel.

[0015] The bottom support mechanism includes a bottom support base, bottom support fingers, and a bidirectional drive module. The bidirectional drive module is disposed on the bottom support base, and its output end is connected to the two bottom support fingers respectively. The bidirectional drive module is used to drive the two bottom support fingers to open or close to achieve bottom support.

[0016] The advantages and beneficial effects of this invention are as follows: This invention provides a compact, spatial automatic nut tightening device. By arranging the tightening power system near the tightening gearbox, it reduces the tightening transmission distance and minimizes errors caused by transmission gaps and force deformation. A miniature torque sensor is integrated into the sleeve of the tightening gearbox, creating a closed-loop circuit for the tightening torque output to the sleeve, ensuring the accuracy of the nut tightening torque. Simultaneously, a miniature angle sensor integrated at the rear end of the tightening motor monitors the motor's rotation angle in real time, calculating the sleeve's output angle to achieve the purpose of monitoring the tightening angle. The tightening mechanism of this invention employs a multi-point support and anti-torsion method, featuring high structural static rigidity and good motion stability, ensuring that structural components do not undergo large deformations affecting tightening accuracy during high-torque tightening and loosening. This invention uses a human-machine interface touch panel to operate the CNC system, featuring a high degree of automation and high motion accuracy, avoiding human error and ensuring consistent tightening of all nuts. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the working posture of the compact space nut automatic tightening equipment of the present invention after it has been hoisted onto the engine;

[0018] Figure 2 This is a schematic diagram of the tooling lifting system in this invention;

[0019] Figure 3 This is a schematic diagram of the horizontal feed system in this invention;

[0020] Figure 4 This is a cross-sectional view of the indexing and positioning system in this invention;

[0021] Figure 5 This is a schematic diagram of the tightening central system in this invention;

[0022] Figure 6 This is an isometric view of the support system in this invention;

[0023] Figure 7 This is a side view of the support system in this invention;

[0024] Figure 8 This is a schematic diagram of the central support mechanism in this invention;

[0025] Figure 9 This is a schematic diagram of the bottom support mechanism in this invention;

[0026] Figure 10 This is a partial cross-sectional view of the bottom support mechanism in this invention.

[0027] In the diagram: 1. Tooling lifting system; 2. Tooling horizontal feed system; 3. Indexing and positioning system; 4. Central support mechanism; 5. Tightening central system; 6. Bottom support mechanism; 7. Engine rear axle simulation component; 8. Lifting system drive cylinder; 9. Lifting slide guide shaft; 10. Lifting slide upper mounting plate; 11. Lifting slide; 12. Lifting limit stop block; 13. Lifting slide ball linear bearing; 14. Shaft fixing seat; 15. Tooling base; 16. Translation feed drive motor; 17. Translation slide; 18. Translation drive rack; 19. Ball guide rail slider mechanism; 20. Indexing drive pinion; 21. Indexing driven large gear; 22. Indexing drive motor; 23. Indexing bearing seat assembly; 24. Turntable plate; 25. Folding and flipping drive cylinder; 26. Tightening mandrel; 27. Power transmission long connecting rod; 28. 29. Folding connecting rod; 30. Tightening power source lifting guide cylinder assembly; 31. Angle encoder and motor assembly; 32. Tightening sleeve; 33. Miniature torque sensor; 34. Tightening gearbox; 35. Adapter flange; 36. Tightening spindle waist sliding shaft; 37. T-slider; 38. Middle support drive cylinder; 39. Cylinder guide seat; 40. T-slider push head; 41. T-slot lifting sleeve; 42. Middle support connecting rod; 43. Middle support finger; 44. Middle support fixed seat; 45. Middle support guide shaft; 46. Tightening spindle lower support sleeve; 47. Bottom dovetail groove long slide rail; 48. Bottom gantry slide rail; 49. Bottom support base; 50. Bottom support finger; 51. Bottom finger connecting shaft; 52. Bottom finger drive rack; 53. Bottom drive motor; 54. Bottom drive gear. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] See Figure 1 As shown, the present invention provides a compact space automatic nut tightening device, including a tooling lifting system 1, a tooling horizontal feed system 2, an indexing and positioning system 3, a tightening central system 5, and a support system. The tooling horizontal feed system 2, the indexing and positioning system 3, and the tooling lifting system 1 are connected sequentially from top to bottom. The tightening central system 5 is connected to the horizontal feed system 2. The tooling lifting system 1 is used to complete the lifting and lowering movement of the tightening central system 5. The tooling horizontal feed system 2 is used to complete the horizontal feed of the tightening central system 5. The indexing and positioning system 3 is used to complete the 360° rotation indexing of the tightening central system 5. The tightening central system 4 is used to complete the closed-loop output of tightening power. The support system is used to complete the support of the bottom bladed disk axis surface of the engine rear axle.

[0030] See Figure 2As shown, in an embodiment of the present invention, the tooling lifting system 1 includes a lifting system drive cylinder 8, a lifting slide guide optical shaft 9, a lifting slide upper mounting plate 10, a lifting slide 11, a lifting limit block 12, and a tooling base 15. The lifting slide upper mounting plate 10, the lifting slide 11, and the tooling base 15 are arranged in parallel from top to bottom. Multiple lifting slide guide optical shafts 9 pass through the lifting slide ball linear bearings 13 on the lifting slide 11, and their two ends are fixedly connected to the lifting slide upper mounting plate 10 and the tooling base 15 respectively through optical shaft fixing seats 14. The lifting slide 11 can slide up and down along the lifting slide guide optical shafts 9. The lifting system drive cylinder 8 is disposed on the lifting slide 11, and its output end is connected to the lifting slide upper mounting plate 10. The lifting limit block 12 is disposed on the tooling base 15 and is used to limit the lifting slide 11. When the lifting system drives the cylinder rod of the electric cylinder 8 to push forward, the lifting slide 11 moves up and down along the guide optical axis 9 of the lifting slide, following the cylinder body. At the same time, two polyurethane lifting limit blocks 12 are installed on the tooling base 15 to prevent the tooling from accidentally exceeding its travel range and damaging the engine cavity when it descends.

[0031] See Figure 4 As shown, in an embodiment of the present invention, the indexing positioning system 3 includes an indexing drive pinion 20, an indexing driven large gear 21, an indexing drive motor 22, an indexing bearing seat assembly 23, and a turntable 24. The turntable 24 is disposed above the lifting slide 11 and is rotatably connected to the lifting slide 11 via the indexing bearing seat assembly 23. The indexing driven large gear 21 is coaxially fixed to the outside of the indexing bearing seat assembly 23. The indexing drive motor 22 is disposed on the lifting slide 11 and its output end is connected to the indexing drive pinion 20. The indexing drive pinion 20 meshes with the indexing driven large gear 21. The indexing drive motor 22 drives the indexing drive pinion 20 to rotate, and the indexing driven large gear 21 drives the turntable 24 to rotate around the axis of the indexing bearing seat assembly 23, thereby realizing the 360° rotational indexing of the tightening central system 5.

[0032] See Figure 3 As shown in the embodiment of the present invention, the tooling horizontal feed system 2 includes a translation feed drive motor 16, a translation slide 17, a translation drive rack 18, and a ball guide slider mechanism 19. The translation drive rack 18 and the ball guide slider mechanism 19 are arranged parallel to each other on the turntable plate 24. The translation slide 17 is connected to the ball guide slider mechanism 19. The translation feed drive motor 16 is mounted on the translation slide 17, and its output end is provided with a translation drive gear, which meshes with the translation drive rack 18. The translation feed drive motor 16 provides power for the translation of the translation slide 17, and the ball guide slider mechanism 19 provides guidance for the translation of the translation slide 17. When the translation drive gear rotates, the translation slide 17 moves horizontally relative to the turntable plate 24 along the ball guide slider mechanism 19.

[0033] See Figure 5 As shown, in an embodiment of the present invention, the tightening central system 5 includes a folding drive mechanism, a tightening mandrel 26, a tightening power source lifting guide cylinder assembly 29, a rotary encoder and motor assembly 30, a tightening sleeve 31, a miniature torque sensor 32, and a tightening gearbox 33. The upper end of the tightening mandrel 26 is connected to the translation slide 17 of the tooling horizontal feed system 2, and the lower end of the tightening mandrel 26 is hinged to the tightening gearbox 33. The tightening sleeve 31 is connected to the output shaft of the tightening gearbox 33 via the miniature torque sensor 32. The folding drive mechanism is connected to the translation slide 17 of the tooling horizontal feed system 2 and to the tightening gearbox 33. The folding drive mechanism is used to drive the tightening gearbox 33 to fold and flip. The tightening power source lifting guide cylinder assembly 29 is set on the tightening spindle 26 and is connected to the angle encoder and motor assembly 30. The tightening power source lifting guide cylinder assembly 29 is used to drive the angle encoder and motor assembly 30 to lift and lower, so as to realize the power source transmission or disconnection between the angle encoder and motor assembly 30 and the input shaft of the tightening gearbox 33.

[0034] In an embodiment of the present invention, the folding drive mechanism includes a folding and flipping drive electric cylinder 25, a power transmission long connecting rod 27, and a folding connecting rod 28. The folding and flipping drive electric cylinder 25 is mounted on a translation slide 17, and its output end is connected to the upper end of the power transmission long connecting rod 27. The lower end of the power transmission long connecting rod 27 is hinged to a tightening gearbox 33 via the folding connecting rod 28. The folding and flipping drive electric cylinder 25 drives the tightening gearbox 33 to switch between a horizontal and a vertical position.

[0035] Specifically, the tightening power source lifting guide cylinder assembly 29 includes a tightening power lifting drive cylinder mounted on the tightening spindle 26 and a lifting guide rail; the angle encoder and motor assembly 30 includes a tightening power motor and an angle encoder mounted on the tightening power motor. The tightening power motor is slidably connected to the lifting guide rail via a motor mount, and the output end of the tightening power lifting drive cylinder is connected to the tightening power motor. The tightening power lifting drive cylinder drives the tightening power motor to descend along the lifting guide rail, thereby connecting the output end of the tightening power motor with the input shaft of the tightening gearbox 33, thus establishing the power source; the tightening power lifting drive cylinder also drives the motor to rise along the lifting guide rail, disengaging the tightening power motor from the tightening gearbox 33.

[0036] When tightening is required, the tightening mandrel 26 is lowered by the lifting slide 11. Simultaneously, the folding and flipping drive cylinder 25 pulls up the power transmission long connecting rod 27, which in turn drives the folding connecting rod 28 to rise, pulling the tightening gearbox 33 to rotate around its hinge point with the tightening mandrel 26 until it is level. Then, the tooling horizontal feed system 2 moves the tightening mandrel 26 horizontally, causing the tightening gearbox 33 to translate and complete the nail-finding action. Next, the tightening power lifting drive cylinder moves the tightening power motor vertically downwards along the lifting guide rail, inserting it into the power input interface of the tightening gearbox 33, thus completing the power source setup. When the tightening power motor outputs torque, the tightening sleeve 31 outputs torque to perform the tightening operation, while the miniature torque sensor 32 installed on the tightening sleeve 31 performs closed-loop real-time detection of the output torque.

[0037] See Figure 1 As shown, in an embodiment of the present invention, the support system includes a central support mechanism 4 and a bottom support mechanism 6. The central support mechanism 4 is connected to the tooling horizontal feed system 2 and is disposed on the outside of the tightening central system 5; the bottom support mechanism 6 is disposed at the bottom of the tightening central system 5 and is slidably connected to the central support mechanism 4. The central support mechanism 4 completes the support of the tightening central system 5 on the central impeller shaft center surface, and the bottom support mechanism 6 completes the support of the tightening central system 5 on the bottom impeller shaft center surface.

[0038] See Figure 6 , Figure 7 As shown in the embodiment of the present invention, the central support mechanism 4 includes a central support drive cylinder 38, a lifting slide sleeve assembly, a linkage mechanism, a lower support slide sleeve 46 for the tightening mandrel, a bottom dovetail groove long slide rail 47, and a bottom gantry slide rail 48. The central support drive cylinder 38 is mounted on the translation slide table 17 of the tooling horizontal feed system 2 via a cylinder guide seat 39 and outputs power in the vertical direction. The lifting slide sleeve assembly, the linkage mechanism, the lower support slide sleeve 46 for the tightening mandrel, and the bottom dovetail groove long slide rail 47 are connected in sequence. The lifting slide sleeve assembly is connected to the output end of the central support drive cylinder 38. The lower support slide sleeve 46 for the tightening mandrel is slidably connected to the tightening mandrel 26 of the tightening central system 5 via the bottom gantry slide rail 48. The bottom dovetail groove long slide rail 47 is slidably connected to the bottom support mechanism 6. The central support drive cylinder 38 drives the linkage mechanism to open or close via the lifting slide sleeve assembly to achieve central support.

[0039] Specifically, the lifting sleeve assembly includes a T-shaped slider 37, a T-shaped slider pusher 40, and a T-groove lifting sleeve 41. The T-shaped slider 37 is slidably connected to the tightening spindle 26. The output end of the central support drive cylinder 38 is connected to the T-shaped slider 37 through the T-shaped slider pusher 40. The T-shaped slider 37 is connected to the T-groove lifting sleeve 41, which is located on the outside of the tightening spindle 26.

[0040] See Figure 8 As shown, in an embodiment of the present invention, the linkage mechanism includes a central support link 42, a central support finger 43, a central support fixed seat 44, and a central support guide optical shaft 45. The upper end of the central support guide optical shaft 45 is slidably connected to the T-slot lifting sleeve 41, and the lower end of the central support guide optical shaft 45 is fixedly connected to the lower support sleeve 46 of the tightening spindle. The central support fixed seat 44 is slidably connected to the central support guide optical shaft 45. Two central support fingers 43 are symmetrically hinged on the central support fixed seat 44. The two central support fingers 43 are respectively hinged to the T-slot lifting sleeve 41 through two central support links 42. The central support fixed seat 44 is slidably connected to the tightening spindle 26 through the waist sliding shaft 35 of the tightening spindle.

[0041] In this embodiment, the central support drive cylinder 38 provides the deployment power for the central support. The cylinder head of the central support drive cylinder 38 is fixedly connected to the T-shaped slider pusher. The T-groove lifting sleeve 41 transmits the thrust of the central support drive cylinder 38 to the linkage mechanism. The linkage mechanism completes the deployment and retraction of the central support fingers 43. The lifting and lowering movement of the linkage mechanism is guided by four central support guide shafts 45. When the central support needs to be deployed, the central support drive cylinder 38 presses down, pushing the lightweight T-groove lifting sleeve 41 through the connected T-shaped slider pusher 40. The central support fixing seat 44 forms a sliding connection with the tightening spindle 26 through the tightening spindle waist sliding shaft 35. The T-groove lifting sleeve 41 presses down to flatten the central support fingers 43 in the linkage mechanism. In addition, the central support mechanism 4 also includes a lower support sleeve 46 for the tightening spindle, a bottom dovetail groove long slide rail 47, and a bottom gantry slide rail 48. The lower support sleeve 46 for the tightening spindle is fixedly connected to the T-groove lifting sleeve 41 by the central support guide shaft 45. The bottom gantry slide rail 48 is slidably connected to the tightening spindle 26 via a T-shaped slider, and the bottom dovetail groove long slide rail 47 is fixedly connected to the lower support sleeve 46 for the tightening spindle. When the central support is extended or retracted, the lower support sleeve 46 for the tightening spindle rises and falls simultaneously. Since the bottom gantry slide rail 48 and the tightening spindle 26 are slidably connected by a T-shaped block, the counter-torque borne by the tightening spindle 26 can always be transmitted to the central support.

[0042] See Figure 9 As shown in the embodiment of the present invention, the bottom support mechanism 6 includes a bottom support base 49, bottom support fingers 50 and a bidirectional drive module, wherein the bidirectional drive module is disposed on the bottom support base 49 and its output end is respectively connected to the two bottom support fingers 50. The bidirectional drive module is used to drive the two bottom support fingers 50 to open or close, thereby achieving bottom support.

[0043] Specifically, see Figure 9 , Figure 10As shown, the bidirectional drive module includes a bottom finger drive rack 52, a bottom drive motor 53, and a bottom drive gear 54. The bottom drive motor 53 is mounted on the bottom support base 49, and its output end is connected to the bottom drive gear 54. The bottom drive gear 54 meshes with two symmetrically arranged bottom finger drive racks 52. The two bottom finger drive racks 52 are connected to two bottom support fingers 50 respectively via bottom finger connecting shafts 51. The bottom drive motor 53 drives the bottom drive gear 54 to rotate, thereby causing the two bottom support fingers 50 to move closer or further apart through the two bottom finger drive racks 52.

[0044] When the bottom support mechanism 6 needs to be deployed, the bottom drive motor 53 drives the bottom drive gear 54 to rotate, and the meshing bottom finger drive rack 52 completes symmetrical movement. The bottom support fingers 50 are fixedly connected to the bottom finger drive rack 52 through the bottom finger connecting shaft 51. Therefore, the bottom support fingers 50 are symmetrically deployed, completing the bottom centering support. The bottom dovetail groove long slide rail 47 and the bottom support base 49 are slidably connected. Therefore, regardless of whether the spindle 26 is tightened, raised, lowered, or moved horizontally, the counter-torque is always transmitted to the bottom support through the bottom dovetail groove long slide rail 47.

[0045] In this embodiment, the middle support mechanism 4 and the bottom support mechanism 6 are slidably connected to the tightening central system 5 through the tightening mandrel waist sliding shaft 35, the center hole of the indexing bearing seat, and the T-shaped slider pusher 40. That is, the tightening central system can move horizontally between the middle support mechanism 4 and the bottom support mechanism 6, and simultaneously slide in contact with the lightweight T-slot lifting sleeve 41, bearing the counter-torque at any time. Specifically, all drive motors, electric cylinders, and pneumatic cylinders are controlled by a CNC system. The electric cylinders and motors are controlled by built-in encoders, and the pneumatic cylinders are controlled by external magnetic switches to complete closed-loop position detection.

[0046] In this embodiment, the present invention provides a compact, space-efficient automatic nut tightening device that is connected to the engine rear axle port via an adapter. See also Figure 1 As shown, engine rear axle simulator 7 is used as an example. The engine rear axle simulator 7 is used to simulate the tightening position and the center plane of the middle and bottom bladed disks. The specific implementation process includes the following steps:

[0047] Return all electrical components to their initial positions: the lifting slide 11 moves to the high zero position, the horizontal feed translation slide 17 moves to the retraction zero position, the indexing and positioning system 3 rotates to the 0° position, the tightening power source lifting cylinder retracts, the electric rod of the folding and flipping drive cylinder 25 is pushed forward to the zero position, ensuring that the tightening gearbox 33 is at an angle of 180° with the axis of the tightening spindle 26, the middle support drive cylinder 38 retracts, and the bottom drive motor 53 rotates to the zero position, ensuring that the bottom support finger 50 retracts. All zero points are detected by the absolute encoder of the motor and the magnetic switch of the cylinder. Only after all points are indeed returned to zero can the CNC system perform subsequent operations.

[0048] Pre-installation of equipment: Install a transition flange on the rear axle of the engine, and hoist the entire equipment onto the transition flange to complete the positioning of the entire equipment and the rear axle of the engine.

[0049] The lifting action in the automatic nail finding process: The cylinder rod of the lifting system drive cylinder 8 retracts, which drives the lifting slide 11 to move down, completing the tightening central system 5 to move downward along the rear axle axis into place.

[0050] The horizontal feed action in the automatic nail finding action: the translation feed drive motor 16 drives the translation drive gear to rotate, and the translation slide 17 feeds forward along the ball guide rail slider mechanism 19 relative to the turntable plate 24, completing the tightening central system 5 to move into place radially along the rear axis.

[0051] The circumferential indexing action in the automatic nail finding process: The indexing drive motor 22 drives the indexing drive pinion 20 to rotate, and the indexing driven large gear 21 meshes with the indexing drive pinion 20. The indexing driven large gear 21 then drives the turntable plate 24 to rotate 360° relative to the tooling base 15 around the center of the indexing bearing seat assembly 23, thus completing the circumferential indexing action of the tightening central system 5.

[0052] Folding action of tightening central system: The folding and flipping drive electric cylinder 25 pulls up the power transmission long connecting rod 27, the power transmission long connecting rod 27 drives the folding connecting rod 28 to rise, pulling the tightening gear box 33 to rotate around the hinge point with the tightening spindle 26 until the tightening gear box 33 is leveled, completing the folding action of tightening central system 5.

[0053] The aforementioned descent, feed, and folding actions are linked actions controlled by the CNC system, completing the automatic nail-finding action of the tightening central system 5.

[0054] Before the tightening operation begins, the middle support mechanism 4 and the bottom support mechanism 6 mounted on the tightening central system 5 need to be automatically deployed to increase the anti-torsional rigidity of the cantilevered tightening central system 5 that extends into the rear axle of the engine.

[0055] The central support unfolds as follows: The cylinder rod of the central support drive cylinder 38 extends, pushing the lightweight T-slot lifting sleeve 41 via the connected T-slide 37. The T-slot lifting sleeve 41 presses down, flattening the central support fingers 43 via a linkage mechanism. Simultaneously, the lower support sleeve 46 of the tightening spindle descends. Because the bottom gantry slide rail 48 and the tightening spindle 26 are connected by a T-block sliding connection, the counter-torque borne by the tightening spindle 26 can always be transmitted to the central support.

[0056] Bottom support deployment: The bottom drive motor 53 drives the bottom drive gear 54 to rotate, and the meshing bottom finger drive rack 52 completes symmetrical movement. The bottom support fingers 50 are fixedly connected to the bottom finger drive rack 52 through the bottom finger connecting shaft 51. Therefore, the bottom support fingers 50 are symmetrically deployed to complete the bottom centering support. The bottom dovetail groove long slide rail 47 is slidably connected to the bottom support base 49. The bottom dovetail groove long slide rail 47 is fixedly connected to the lower support slide sleeve 46 of the tightening spindle. The lower support slide sleeve 46 of the tightening spindle is slidably connected to the bottom gantry slide rail 48. The bottom gantry slide rail 48 is slidably connected to the tightening spindle 26. Therefore, regardless of whether the tightening spindle is raised, lowered, or moved horizontally, the counter-torque is always transmitted to the bottom support through the bottom dovetail groove long slide rail 47. The tightening central system, after tooling is completed, enters the bottom of the engine rear axle (i.e. below the tightening gearbox) and forms a support with the adjacent engine cavity. Since the mechanism unfolds symmetrically, it can correct the center error of the two annular surfaces of the tightening central system 5 and the engine support position (since the tightening central system is a large overhang structure, manufacturing and assembly errors are inevitable, and the bottom support needs to have a centering function to correct them).

[0057] Power source docking: Tightening the power lifting drive cylinder moves the tightening power motor vertically downward along the lifting guide rail and inserts it into the power input interface of the tightening gearbox 33 to complete the power source docking.

[0058] Tightening operation begins: The tightening sleeve 31, output from the end of the tightening gearbox 33, rotates. The tightening gearbox 33, driven by the lifting slide 11, moves the tightening mandrel 26 upward, completing the cap recognition action. Once the torque value detected by the miniature torque sensor 32 integrated in the tightening sleeve 31 and the lifting height reach the process set values, the cap recognition is considered successful. The tightening sleeve 31 continues to apply torque, while simultaneously detecting the rising distance and rotation angle of the tightening sleeve 31. When these reach the specified process values, the tightening is considered complete in one operation.

[0059] Tighten the next nut: The middle support and bottom support fingers retract, the tightening sleeve 31 rotates a specific small angle and moves down to the designated height, the indexing positioning system 3 moves to the diagonal position according to the diagonal tightening process route, and repeats the previous tightening operation until all nuts are tightened.

[0060] Operation complete: The CNC system controls all motors and cylinders to return to zero again. After the CNC system completes its self-check and zeroing operation, the entire equipment is lifted off the engine.

[0061] See Figure 5 As shown, the calculation method for the adaptability of the tightening system is as follows: the center distance between the tightening mandrel 26 and the tightening sleeve 31 is L2, the maximum outer diameter of the tightening mandrel 26 is L1, the minimum diameter of the engine rear axle is D1, and the diameter of the flange hole where the tightening position is located is D2. The preconditions for the tooling to be used are: 1. L1≤D1, 2. D2≤D1+2L2-L1. When the equipment and the engine simultaneously meet the above two conditions, the equipment can meet the automatic nail finding requirements; otherwise, the design dimensions of L1 and L2 need to be changed.

[0062] This invention employs a tightening power system positioned near the tightening gearbox to reduce the tightening transmission distance and minimize errors caused by transmission gaps and stress deformation. A miniature torque sensor is integrated into the sleeve of the tightening gearbox, creating a closed-loop circuit for the tightening torque output to the sleeve, ensuring the accuracy of the nut tightening torque. Simultaneously, a miniature angle sensor integrated at the rear of the tightening motor monitors the motor's rotation angle in real time, calculating the sleeve's output angle to achieve the purpose of monitoring the tightening angle. The tightening mechanism of this invention uses a multi-point support and anti-torsion method, featuring high structural static rigidity and good motion stability, ensuring that structural components do not undergo significant deformation affecting tightening accuracy during high-torque tightening and loosening. This invention uses a human-machine interface touch panel to operate the CNC system, featuring a high degree of automation and high motion precision, avoiding human error and ensuring consistent tightening of all nuts.

[0063] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A compact, spatial automatic nut tightening device, characterized in that, The system includes a tooling lifting system (1), a tooling horizontal feed system (2), an indexing and positioning system (3), a tightening central system (5), and a support system. The tooling horizontal feed system (2), the indexing and positioning system (3), and the tooling lifting system (1) are connected from top to bottom. The tightening central system (5) is connected to the horizontal feed system (2). The tooling lifting system (1) is used to complete the lifting and lowering movement of the tightening central system (5). The tooling horizontal feed system (2) is used to complete the horizontal feed of the tightening central system (5). The indexing and positioning system (3) is used to complete the 360° rotation indexing of the tightening central system (5). The tightening central system (5) is used to complete the closed-loop output of tightening power. The support system is used to complete the support of the components. The support system includes a middle support mechanism (4) and a bottom support mechanism (6). The middle support mechanism (4) is connected to the tooling horizontal feed system (2) and is located on the outside of the tightening central system (5). The bottom support mechanism (6) is located at the bottom of the tightening central system (5) and is slidably connected to the middle support mechanism (4). The central support mechanism includes a central support drive cylinder (38), a lifting slide sleeve assembly, a linkage mechanism, a lower support slide sleeve (46) for tightening mandrel, a bottom dovetail groove long slide rail (47), and a bottom gantry slide rail (48). The central support drive cylinder (38) is mounted on the tooling horizontal feed system (2) and outputs power in the vertical direction. The lifting slide sleeve assembly, linkage mechanism, lower support slide sleeve (46) for tightening mandrel, and bottom dovetail groove long slide rail (47) are connected in sequence. The lifting slide sleeve assembly is connected to the output end of the central support drive cylinder (38). The lower support slide sleeve (46) for tightening mandrel is slidably connected to the tightening central system (5) through the bottom gantry slide rail (48). The bottom dovetail groove long slide rail (47) is slidably connected to the bottom support mechanism. The central support drive cylinder (38) drives the linkage mechanism to open or close through the lifting slide sleeve assembly to achieve central support. The bottom support mechanism includes a bottom support base (49), bottom support fingers (50) and a bidirectional drive module. The bidirectional drive module is disposed on the bottom support base (49) and its output end is connected to the two bottom support fingers (50) respectively. The bidirectional drive module is used to drive the two bottom support fingers (50) to open or close to achieve bottom support.

2. The compact space nut automatic tightening device according to claim 1, characterized in that, The tooling lifting system (1) includes a lifting system drive cylinder (8), a lifting slide guide shaft (9), a lifting slide upper mounting plate (10), a lifting slide (11), a lifting limit block (12), and a tooling base (15). The lifting slide upper mounting plate (10), the lifting slide (11), and the tooling base (15) are arranged in parallel from top to bottom. Multiple lifting slide guide shafts (9) pass through the lifting slide (11), and their two ends are fixedly connected to the lifting slide upper mounting plate (10) and the tooling base (15) respectively. The lifting slide (11) can slide up and down along the lifting slide guide shaft (9). The lifting system drive cylinder (8) is set on the lifting slide (11), and its output end is connected to the lifting slide upper mounting plate (10). The lifting limit block (12) is set on the tooling base (15) and is used to limit the lifting slide (11).

3. The compact space nut automatic tightening device according to claim 2, characterized in that, The indexing positioning system (3) includes an indexing drive pinion (20), an indexing driven gear (21), an indexing drive motor (22), an indexing bearing housing assembly (23), and a turntable (24). The turntable (24) is located above the lifting slide (11) and is rotatably connected to the lifting slide (11) through the indexing bearing housing assembly (23). The indexing driven gear (21) is coaxially fixed on the outside of the indexing bearing housing assembly (23). The indexing drive motor (22) is located on the lifting slide (11) and its output end is connected to the indexing drive pinion (20). The indexing drive pinion (20) meshes with the indexing driven gear (21). The indexing drive motor (22) drives the indexing drive pinion (20) to rotate, and the indexing driven gear (21) drives the turntable (24) to rotate around the axis of the indexing bearing housing assembly (23).

4. The compact space nut automatic tightening device according to claim 3, characterized in that, The tooling horizontal feed system (2) includes a translation feed drive motor (16), a translation slide (17), a translation drive rack (18), and a ball guide slider mechanism (19). The translation drive rack (18) and the ball guide slider mechanism (19) are arranged in parallel on the turntable plate (24). The translation slide (17) is connected to the ball guide slider mechanism (19). The translation feed drive motor (16) is arranged on the translation slide (17) and has a translation drive gear at its output end. The translation drive gear meshes with the translation drive rack (18). The translation feed drive motor (16) provides power for the translation of the translation slide (17), and the ball guide slider mechanism (19) provides guidance for the translation of the translation slide (17).

5. The compact space nut automatic tightening device according to claim 1, characterized in that, The tightening central system (5) includes a folding drive mechanism, a tightening mandrel (26), a tightening power source lifting guide cylinder assembly (29), a rotary encoder and motor assembly (30), a tightening sleeve (31), a miniature torque sensor (32), and a tightening gearbox (33). The upper end of the tightening mandrel (26) is connected to the tooling horizontal feed system (2), and the lower end of the tightening mandrel (26) is hinged to the tightening gearbox (33). The tightening sleeve (31) is connected to the output shaft of the tightening gearbox (33) through the miniature torque sensor (32). The drive mechanism is set on the tooling horizontal feed system (2) and connected to the tightening gearbox (33). The folding drive mechanism is used to drive the tightening gearbox (33) to fold and flip. The tightening power source lifting guide cylinder assembly (29) is set on the tightening spindle (26) and connected to the angle encoder and motor assembly (30). The tightening power source lifting guide cylinder assembly (29) is used to drive the angle encoder and motor assembly (30) to lift and lower, so as to realize the power source transmission or disconnection between the angle encoder and motor assembly (30) and the input shaft of the tightening gearbox (33).

6. The compact space nut automatic tightening device according to claim 5, characterized in that, The folding drive mechanism includes a folding and flipping drive electric cylinder (25), a power transmission long connecting rod (27), and a folding connecting rod (28). The folding and flipping drive electric cylinder (25) is mounted on the tooling horizontal feed system (2), and its output end is connected to the upper end of the power transmission long connecting rod (27). The lower end of the power transmission long connecting rod (27) is hinged to the tightening gearbox (33) through the folding connecting rod (28).

7. The compact space nut automatic tightening device according to claim 1, characterized in that, The linkage mechanism includes a central support link (42), a central support finger (43), a central support fixed seat (44), and a central support guide optical shaft (45). The upper end of the central support guide optical shaft (45) is slidably connected to the lifting sleeve assembly, and the lower end of the central support guide optical shaft (45) is fixedly connected to the lower support sleeve (46) of the tightening mandrel. The central support fixed seat (44) is slidably connected to the central support guide optical shaft (45). Two central support fingers (43) are symmetrically hinged on the central support fixed seat (44). The two central support fingers (43) are respectively hinged to the lifting sleeve assembly through two central support links (42). The central support fixed seat (44) is slidably connected to the tightening central system (5) through the waist sliding shaft (35) of the tightening mandrel.

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