A semi-automatic tightening equipment for narrow space

Abstract

This invention belongs to the field of automated assembly technology, and specifically relates to a semi-automatic tightening device for confined spaces. It includes a power source lifting system, an upper tooling horizontal feed system, an upper tooling lifting system, an upper tooling indexing and positioning system, a tightening central system, and a bottom support system. The power source lifting system, upper tooling horizontal feed system, upper tooling lifting system, and upper tooling indexing and positioning system are connected sequentially from top to bottom. The tightening central system is connected to the upper tooling lifting system, and the bottom support system is connected to the bottom of the tightening central system. The power source lifting system is used to complete the docking action of the tightening power source, the tightening central system is used to complete the tightening power output, and the bottom support system is used to assist the tightening central system in providing radial support. This invention features a high degree of automation and high motion precision, avoiding human error and ensuring consistent tightening of all nuts.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly technology, and specifically relates to a semi-automatic tightening device for confined spaces. Background Technology

[0002] In the core of an aero-engine, the high-pressure rotor is mainly composed of a high-pressure compressor rotor and a high-pressure turbine rotor. The multi-stage bladed disks of the high-pressure compressor rotor are fastened by dozens of threaded fasteners evenly distributed along the axial direction, thus assembling the main structure of the high-pressure rotor. For some models, the nuts in the threaded fasteners are rear-mounted nut with a grate disc, located behind the grate disc, with the contact end facing the rear mounting edge of the high-pressure turbine rotor. The connecting bolts are special D-bolts with axial limiting and angular locking functions. As 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 its speed 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, and the tightening quality of the threaded fasteners is an important factor affecting assembly performance and the overall reliability of the engine.

[0003] In the high-pressure rotor assembly process, the main assembly processes such as bolt pre-installation, component docking, and fastening are completed in sequence. For the fastening process, nuts need to be installed and tightened inside the high-pressure rotor. The space occupied by the high-pressure rotor internal tightening varies depending on the engine model, but all have the characteristics of narrow spatial layout. Among them, 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 high-pressure turbine rotor rear shaft is φ90-150mm, and the nut distribution diameter is φ200-400mm. For the tightening mechanism operation, there are difficulties such as long feed channel, small tightening space and multi-area interference. At present, the domestic main method is to use the operation of slender tightening tools for deep, deflection and tightening. The process relies heavily on manual operation methods. There are no successful application cases of automated special tightening equipment. The following shortcomings exist: (1) Poor assembly quality consistency: The method of manual operation of mechanical tooling has problems such as nut installation offset and tilt, which cannot guarantee the consistency of each part. (1) Consistency of nut tightening; 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 and affects the tightening quality; (2) Low assembly accuracy: the current application devices mainly use manual torque tools or external torque systems as tightening power input. During the tightening process, closed-loop detection cannot be achieved. The actual torque and screw-in angle of the nut deviate greatly from the measurement value of the sensor at the far end, and there are random errors that are difficult to compensate for, so it is impossible to guarantee the tightening torque and rotation accuracy of the nut; (3) Low assembly efficiency: after the nut group is installed and tightened for the first time, 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 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 semi-automatic tightening device for confined spaces, thereby solving the problems of poor assembly quality consistency, low assembly accuracy, and low assembly efficiency in manual operation methods.

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

[0006] This invention provides a semi-automatic tightening device for confined spaces, comprising a power source lifting system, an upper tooling horizontal feed system, an upper tooling lifting system, an upper tooling indexing and positioning system, a tightening central system, and a bottom support system. The power source lifting system, upper tooling horizontal feed system, upper tooling lifting system, and upper tooling indexing and positioning system are connected sequentially from top to bottom. The tightening central system is connected to the upper tooling lifting system, and the bottom support system is connected to the bottom of the tightening central system. The power source lifting system is used to complete the docking action of the tightening power source; the upper tooling horizontal feed system is used to complete the overall horizontal feed of the power source lifting system; the upper tooling lifting system is used to complete the lifting and lowering movement of the tightening central system; the upper tooling indexing and positioning system is used to complete the rotational indexing of the tightening central system; the tightening central system is used to complete the tightening power output; and the bottom support system is used to assist the tightening central system in completing radial support.

[0007] The upper tooling lifting system includes a lifting drive cylinder, a lifting slide top plate, a lifting slide guide assembly, a lifting slide plate, and a lifting slide mounting base. The lifting slide top plate is located above the lifting slide mounting base and is fixedly connected by the lifting slide guide assembly. The lifting slide plate is slidably engaged with the lifting slide guide assembly. The lifting drive cylinder is located on the lifting slide plate, and its output end is connected to the lifting slide top plate. The lifting drive cylinder provides power for the lifting of the lifting slide plate, and the lifting slide guide assembly provides guidance for the lifting of the lifting slide plate.

[0008] The upper tooling horizontal feed system includes a translation drive motor, a translation slide plate, a translation drive gear, a translation linear guide rail, and a translation rack. The translation linear guide rail and the translation rack are arranged parallel to each other on the lifting slide plate. The translation slide plate and the translation linear guide rail are in sliding engagement. The translation drive motor is mounted on the translation slide plate, and its output end is connected to the translation drive gear. The translation drive gear meshes with the translation rack. The translation drive motor provides power for the horizontal movement of the translation slide plate along the translation linear guide rail.

[0009] The upper tooling indexing and positioning system includes an indexing bearing housing assembly, an indexing fixed large gear, a tooling base, an indexing drive small gear assembly, and an indexing drive motor. The tooling base is located below the lifting slide mounting base and is rotatably connected to the lifting slide mounting base via the indexing bearing housing assembly. The indexing fixed large gear is coaxially fixed on the outside of the indexing bearing housing assembly. The indexing drive motor is located on the lifting slide mounting base, and its output end is connected to the indexing drive small gear assembly, which meshes with the indexing fixed large gear.

[0010] The power source lifting system includes a flexible belt drive mechanism, a linear motor assembly, a linear motor guide rail, a power source slide assembly, a power source lifting base assembly, a lifting slide execution rail, and a power source assembly. The power source lifting base assembly is fixed to the upper tooling horizontal feed system. The lifting slide execution rail and the linear motor guide rail are respectively located on the front and back of the power source lifting base assembly. The linear motor assembly slides in conjunction with the linear motor guide rail to output power vertically. The power source slide assembly slides in conjunction with the lifting slide execution rail, and the power source assembly is located at the lower end of the power source slide assembly. The flexible belt drive mechanism is located on the power source lifting base assembly, with both ends connected to the linear motor assembly and the power source slide assembly, respectively. The flexible belt drive mechanism transmits power from the linear motor assembly to the power source slide assembly, enabling the power source slide assembly to lift.

[0011] The power source assembly includes a power source reducer, a power source motor, a gearbox assembly, and a miniature torque angle sensor. The input shaft of the power source reducer is connected to the power source motor, and the output shaft of the power source reducer is connected to the input shaft of the gearbox assembly. The axis of the output shaft of the gearbox assembly is arranged vertically, and the miniature torque angle sensor is coaxially mounted with the output shaft of the gearbox assembly.

[0012] The tightening central system includes a protective cylinder assembly and a tightening gearbox assembly, wherein the upper end of the protective cylinder assembly is connected to the upper tooling lifting system, and the tightening gearbox assembly is located at the bottom of the protective cylinder assembly;

[0013] The tightening gearbox assembly includes a gearbox base and folding gearbox assembly I and folding gearbox assembly II slidably connected to the gearbox base. Folding gearbox assembly I and folding gearbox assembly II are connected by transmission, and the housings of folding gearbox assembly I and folding gearbox assembly II are hinged to each other. Folding gearbox assembly I is provided with a tightening input shaft, and folding gearbox assembly II is provided with a tightening sleeve on its output shaft.

[0014] The tail of the folding gearbox assembly I is provided with a lifting ring; the folding gearbox assembly II is provided with a rack assembly along the translational direction of the tightening gearbox assembly; the gearbox base is provided with an interface corresponding to the rack assembly;

[0015] During operation, a person manually hooks the lifting ring with a long rod hook to drive the folding gearbox assembly I to level it; the person manually engages the gear shaft with the rack assembly at the interface of the gearbox base by rotating the gear shaft, which drives the tightening gearbox assembly to move forward.

[0016] The bottom support system includes a bottom support base, bottom support fingers, a bottom linkage assembly, a bottom linkage pusher, a bottom drive cylinder, and a protective shell. Two bottom support fingers are slidably connected to the top of the bottom support base. The bottom drive cylinder is mounted on the bottom support base, and its output end is connected to the bottom linkage assembly via the bottom linkage pusher. The bottom linkage assembly is connected to the two bottom support fingers. The protective shell is located outside the bottom drive cylinder. The bottom drive cylinder drives the two bottom support fingers to complete the centering and unfolding movement through the bottom linkage assembly.

[0017] The bottom linkage assembly includes two linkages. The lower ends of the two linkages are hinged to the bottom linkage push head via hinge shafts, and the upper ends are respectively hinged to the two bottom support fingers.

[0018] The advantages and beneficial effects of this invention are as follows: This invention adopts a method of arranging the tightening power system near the tightening gearbox, which reduces the tightening transmission distance and reduces the error caused by transmission gap and force deformation. Furthermore, a miniature torque sensor is integrated at the sleeve of the tightening gearbox to form a closed loop by outputting the tightening torque to the sleeve, ensuring the accuracy of the nut tightening torque. At the same time, relying on the miniature rotation angle sensor integrated at the rear end of the tightening motor, the rotation angle of the tightening motor is monitored in real time, and the output rotation angle of the sleeve is calculated to achieve the purpose of monitoring the tightening rotation angle.

[0019] This invention's tightening equipment employs a support-and-counter-torsion method, featuring high structural static stiffness and good motion stability, ensuring that structural components do not undergo significant deformation affecting tightening accuracy during high-torque tightening and loosening. This invention utilizes a human-machine interface touch panel to operate the CNC system, characterized by a high degree of automation and high motion precision, avoiding human error and ensuring consistent tightening of all nuts. Attached Figure Description

[0020] Figure 1 This is an isometric view of a semi-automatic tightening device for confined spaces according to the present invention;

[0021] Figure 2 This is a schematic diagram of the upper tooling horizontal feeding system and the upper tooling lifting system in this invention;

[0022] Figure 3 This is a schematic diagram of the upper tooling indexing and positioning system and the tightening central system in this invention;

[0023] Figure 4 This is a schematic diagram of the horizontal state of the tightened gearbox assembly in this invention;

[0024] Figure 5 for Figure 4 Top view;

[0025] Figure 6This is a schematic diagram of the folded state of the tightening gearbox assembly in this invention;

[0026] Figure 7 for Figure 6 Top view;

[0027] Figure 8 This is a schematic diagram of the transmission of the tightening gearbox assembly in this invention;

[0028] Figure 9 This is a bottom view of the bottom support system in this invention;

[0029] Figure 10 for Figure 9 AA section view;

[0030] Figure 11 This is a schematic diagram of the power source lifting system in this invention;

[0031] Figure 12 for Figure 11 Rear view;

[0032] Figure 13 This is a schematic diagram of the power source assembly in this invention;

[0033] Figure 14 This is a schematic diagram of the power source docking state in this invention.

[0034] In the diagram: 1-Power source lifting system, 2-Upper tooling horizontal feed system, 3-Upper tooling lifting system, 4-Upper tooling indexing and positioning system, 5-Lifting device, 6-Tightening central system, 7-Bottom support system, 8-Lifting drive cylinder, 9-Lifting slide top plate, 10-Lifting slide guide assembly, 11-Lifting slide plate, 12-Lifting slide guide bearing, 13-Lifting slide mounting base, 14-Translation drive motor, 15-Translation slide plate, 16-Translation drive gear, 17-Translation linear guide rail, 18-Translation rack, 19-Lifting limit stop block, 20-Protective cylinder assembly, 21-Indexing bearing seat assembly, 22-Indexing fixed large gear, 23-Tooling base, 24-Tooling transition flange, 25-Indexing drive small gear assembly, 26-Tightening gearbox assembly, 27-Folding gearbox assembly I, 28-Folding gearbox assembly II, 2 9-Gearbox base, 30-Bottom support positioning pin, 31-Bottom support base, 32-Bottom support finger, 33-Bottom connecting rod assembly, 34-Bottom connecting rod push head, 35-Bottom drive cylinder, 36-Protective shell, 37-Sprocket, 38-Rotating shaft, 39-Chain, 40-Lifting limit I, 41-Linear motor assembly, 42-Linear motor guide rail, 43-Lifting limit II, 44-Support flange, 45-Drag chain box, 46-Power source slide assembly, 47-Power source lifting base assembly, 48-Lifting slide execution rail, 49-Power source reducer, 50-Power source motor, 51-Gearbox assembly, 52-Miniature torque angle sensor, 53-Power source assembly, 54-Long rod hook, 55-Long rod gear shaft, 56-Rack assembly, 57-Hinged rotating shaft, 58-Tightening sleeve, 59-Tightening input shaft, 60-Gear transmission pair. Detailed Implementation

[0035] 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.

[0036] like Figure 1As shown, this invention provides a semi-automatic tightening device for confined spaces, comprising a power source lifting system 1, an upper tooling horizontal feed system 2, an upper tooling lifting system 3, an upper tooling indexing and positioning system 4, a tightening central system 6, and a bottom support system 7. The power source lifting system 1, upper tooling horizontal feed system 2, upper tooling lifting system 3, and upper tooling indexing and positioning system 4 are connected sequentially from top to bottom. The tightening central system 6 is connected to the upper tooling lifting system 3, and the bottom support system 7 is connected to the bottom of the tightening central system 6. The power source lifting system 1 is used to complete the docking action of the tightening power source; the upper tooling horizontal feed system 2 is used to complete the overall horizontal feed of the power source lifting system 1; the upper tooling lifting system 3 is used to complete the lifting and lowering movement of the tightening central system 6; the upper tooling indexing and positioning system 4 is used to complete the rotational indexing of the tightening central system 6; the tightening central system 6 is used to complete the tightening power output; and the bottom support system 7 is used to assist the tightening central system 6 in completing radial support.

[0037] like Figure 2 As shown in the embodiment of the present invention, the upper tooling lifting system 3 includes a lifting drive cylinder 8, a lifting slide top plate 9, a lifting slide guide assembly 10, a lifting slide plate 11, and a lifting slide mounting base 13. The lifting slide top plate 9 is disposed above the lifting slide mounting base 13 and is fixedly connected via the lifting slide guide assembly 10. The lifting slide guide assembly 10 includes a support and a light shaft. Both ends of the light shaft are fixedly connected to the lifting slide top plate 9 and the lifting slide mounting base 13 respectively via the support. The lifting slide plate 11 slides in cooperation with the light shaft in the lifting slide guide assembly 10 via a lifting slide guide bearing 12. The lifting drive cylinder 8 is disposed on the lifting slide plate 11, and its output end is connected to the lifting slide top plate 9. The lifting drive cylinder 8 provides power for the lifting and lowering of the lifting slide plate 11, and the lifting slide guide assembly 10 provides guidance for the lifting and lowering of the lifting slide plate 11. When the cylinder rod of the lifting drive electric cylinder 8 extends or retracts, the lifting slide plate 11 moves up and down along the optical axis in the lifting slide guide assembly 10 together with the cylinder body.

[0038] Furthermore, the lifting slide mounting base 13 is provided with a lifting limit block 19, which is used to limit the lifting slide plate 11.

[0039] like Figure 2As shown in the embodiment of the present invention, the upper tooling horizontal feed system 2 includes a translation drive motor 14, a translation slide plate 15, a translation drive gear 16, a translation linear guide rail 17, and a translation rack 18. The translation linear guide rail 17 and the translation rack 18 are arranged parallel to each other on the lifting slide plate 11. The translation slide plate 15 is slidably engaged with the translation linear guide rail 17. The translation drive motor 14 is mounted on the translation slide plate 15, and its output end is connected to the translation drive gear 16. The translation drive gear 16 meshes with the translation rack 18. The translation drive motor 14 provides power for the horizontal movement of the translation slide plate 15 along the translation linear guide rail 17. During operation, the translation drive motor 14 drives the translation drive gear 16 to rotate, causing the translation slide plate 15 to move horizontally along the translation linear guide rail 17.

[0040] Furthermore, lifting devices 5 are provided on both sides of the lifting slide mounting base 13; the lifting device 5 is a U-shaped square beam with a waist-shaped slot on the beam. The lifting slide mounting base 13 is connected to the U-shaped square beam by bolts, and the lifting center of gravity can be adjusted along the direction of the slot. Therefore, it can adapt to the capping equipment with different center of gravity positions, and thus has a certain range of versatility. The end of the U-shaped square beam is provided with an M8 threaded hole, which can be used to easily install the rotating lifting ring.

[0041] like Figure 3 As shown, in an embodiment of the present invention, the upper tooling indexing and positioning system 4 includes an indexing bearing seat assembly 21, an indexing fixed large gear 22, a tooling base 23, an indexing drive small gear assembly 25, and an indexing drive motor. The tooling base 23 is disposed below the lifting slide mounting base 13 and is rotatably connected to the lifting slide mounting base 13 through the indexing bearing seat assembly 21. The indexing fixed large gear 22 is coaxially fixed on the outside of the indexing bearing seat assembly 21. The indexing drive motor is disposed on the lifting slide mounting base 13 and its output end is connected to the indexing drive small gear assembly 25. The indexing drive small gear assembly 25 meshes with the indexing fixed large gear 22. During operation, the indexing drive motor drives the indexing drive pinion assembly 25 to rotate. Since the indexing drive pinion assembly 25 meshes with the indexing fixed large gear 22, the indexing drive pinion assembly 25 also rolls along the indexing fixed large gear 22, thereby driving the lifting slide mounting base 13 to rotate 360° around the centerline of the indexing bearing seat assembly 21. Therefore, the mechanism can complete the indexing action along the rear axle radial direction.

[0042] like Figure 3 As shown, in an embodiment of the present invention, the tightening central system 6 includes a protective cylinder assembly 20 and a tightening gearbox assembly 26. The upper end of the protective cylinder assembly 20 is connected to the lifting slide plate 11 in the upper tooling lifting system 3. The tightening gearbox assembly 26 is located at the bottom of the protective cylinder assembly 20. The tightening gearbox assembly 26 is connected to the power source lifting system 1 to tighten the nut.

[0043] like Figures 4 to 7 As shown in the embodiment of the present invention, the tightening gearbox assembly 26 includes a gearbox base 29 and folding gearbox assemblies I and II 28 slidably connected to the gearbox base 29. Folding gearbox assemblies I and II are connected via a gear transmission pair 60, and their housings are hinged together. Folding gearbox assembly I is capable of folding upwards at 90° relative to folding gearbox assembly II. A tightening input shaft 59 is provided on folding gearbox assembly I, and a tightening sleeve 58 is provided on the output shaft of folding gearbox assembly II.

[0044] like Figure 8 As shown in the embodiment of the present invention, the gear transmission pair 60 between the folding gearbox assembly I 27 and the folding gearbox assembly II 28 includes two meshing gears. When the folding gearbox assembly I 27 and the folding gearbox assembly II 28 are at a 90° angle, and the axes of the two gears in the gear transmission pair 60 are also at a 90° angle, the meshing surface is reduced, but they are still in contact to prevent interference when leveled. When the folding gearbox assembly I 27 is leveled, the folding gearbox assembly I 27 and the folding gearbox assembly II 28 are at a 180° angle, and the two gears enter a horizontal meshing state, that is, a torque transmission state. Therefore, regardless of whether the folding gearbox assembly I 27 and the folding gearbox assembly II 28 are vertical or horizontal, the two gears in the gear transmission pair 60 are always in a meshing state.

[0045] Furthermore, the tail of the folding gearbox assembly I 27 is equipped with a lifting ring, which can be manually inserted into the long rod hook 54 at any time. The folding gearbox assembly II 28 is equipped with a rack assembly 56 along the translational direction of the tightening gearbox assembly 26; the gearbox base 29 is equipped with an interface corresponding to the rack assembly 56, which can be manually inserted into the gear shaft long rod 55 at any time. During operation, the operator hooks the lifting ring with the long rod hook 54 to drive the folding gearbox assembly I 27 to level itself; the operator engages the gear shaft long rod 55 with the rack assembly 56 at the interface on the gearbox base 29, and rotating the gear shaft long rod 55 drives the tightening gearbox assembly 26 to move forward.

[0046] Initially, the folding gearbox assembly I 27 and folding gearbox assembly II 28 in the tightened gearbox assembly 26 are at a 90° angle. At this time, both folding gearbox assembly I 27 and folding gearbox assembly II 28 are located within the projected cylindrical surface of the gearbox base 29. During the hoisting process, the tightened gearbox assembly 26 will not interfere with the engine cavity. Figure 6 , Figure 7As shown. After the gearbox assembly 26 is hoisted into place, the operator manually inserts the long hook 54 into the tail lifting ring of the folding gearbox assembly I 27, and swings the folding gearbox assembly I 27 along the hinge pin to the level position. Then, the folding gearbox assembly I 27 and the folding gearbox assembly II 28 are pushed forward as a whole. The operator manually inserts the long gear shaft 55, rotates the long gear shaft 55, and the end of the long gear shaft 55 drives the rack assembly 56 forward, pushing the folding gearbox assembly II 28 and the folding gearbox assembly I 27 forward to the designated position. At this time, the unfolding action of the tightening central system 6 is completed, as shown. Figure 4 , Figure 5 As shown. It is precisely because the tightening sleeve 58 is also located within the projected cylindrical surface of the gearbox base 29 when the gearbox assembly 26 is in a 90° position that the nut can be directly inserted into the tightening sleeve 58 from the upper inlet of the tooling through the slender rod clamping tool to complete the loading action. Therefore, this device can complete the tightening operation while also taking care of the capping operation.

[0047] like Figure 9 , Figure 10 As shown, in an embodiment of the present invention, the bottom support system 7 includes a bottom support base 31, bottom support fingers 32, a bottom connecting rod assembly 33, a bottom connecting rod pusher 34, a bottom drive cylinder 35, and a protective shell 36. Two bottom support fingers 32 are slidably connected to the top of the bottom support base 31. The bottom drive cylinder 35 is mounted on the bottom support base 31, and its output end is connected to the bottom connecting rod assembly 33 via the bottom connecting rod pusher 34. The bottom connecting rod assembly 33 is connected to the two bottom support fingers 32. The protective shell 36 is located on the outside of the bottom drive cylinder 35. The bottom drive cylinder 35 drives the two bottom support fingers 32 to complete a centering and unfolding movement via the bottom connecting rod assembly 33.

[0048] Specifically, the bottom link assembly 33 includes two links, the lower ends of which are hinged to the bottom link push head 34 via hinge shafts, and the upper ends are respectively hinged to two bottom support fingers 32.

[0049] When the bottom support system 7 needs to be deployed, the bottom drive cylinder 35 pushes the hinge point of the bottom connecting rod assembly 33 upward, completing the separation of the bottom connecting rod assembly 33 to both sides. The bottom connecting rod assembly 33 and the bottom support fingers 32 are hinged, and the bottom support fingers 32 are connected to the sliding grooves on the bottom support base 31 by a sliding pair. Therefore, the bottom connecting rod assembly 33 is driven by the bottom connecting rod push head 34 to rise, and the upper end of the bottom connecting rod assembly 33 separates to both sides, thereby driving the two bottom support fingers 32 to move symmetrically outward, completing the symmetrical centering deployment movement of the two bottom support fingers 32, thus realizing the support of the bottom support system 7 for the bottom impeller shaft center surface of the tightening pivot system 6. The bottom drive cylinder 35 is equipped with a magnetic detection switch that can detect whether the movement of the cylinder piston is in place, and thus detect the open / closed state of the bottom support fingers 32. The bottom support system 7 fixes the bottom support base 31 to the protective cylinder assembly 20 and the gearbox base 29 through the bottom support positioning pin 30. Therefore, the counter-torque of tightening gearbox assembly 26 can be transmitted through protective sleeve assembly 20. The protective shell 36 is made of non-metallic material. Since the bottom support system 7 enters the engine rear axle first, the non-metallic protective shell is designed to protect the bottom support and guide the tooling into the engine rear axle, preventing damage to the engine inner wall.

[0050] like Figure 11 , Figure 12 As shown, in an embodiment of the present invention, the power source lifting system 1 includes a flexible belt drive mechanism, a linear motor assembly 41, a linear motor guide rail 42, a power source slide assembly 46, a power source lifting base assembly 47, a lifting slide execution rail 48, and a power source assembly 53. The power source lifting base assembly 47 is fixed to the upper tooling horizontal feed system 2. The lifting slide execution rail 48 and the linear motor guide rail 42 are respectively disposed on the front and back of the power source lifting base assembly 47. The linear motor assembly 41 slides in cooperation with the linear motor guide rail 42 to output power in the vertical direction. The power source slide assembly 46 slides in cooperation with the lifting slide execution rail 48. The power source assembly 53 is disposed at the lower end of the power source slide assembly 46. The flexible belt drive mechanism is disposed on the power source lifting base assembly 47, and its two ends are respectively connected to the linear motor assembly 41 and the power source slide assembly 46. The flexible belt drive mechanism is used to transmit the power of the linear motor assembly 41 to the power source slide assembly 46, causing the power source slide assembly 46 to lift.

[0051] In an embodiment of the present invention, the flexible belt drive mechanism includes a sprocket 37, a rotating shaft 38, a chain 39, and a drag chain box 45. The sprocket 37 is mounted on the top of the power source lifting base assembly 47 via the rotating shaft 38. The chain 39 passes through the sprocket 37 and is connected at both ends to the linear motor assembly 41 and the power source slide assembly 46, respectively.

[0052] Furthermore, the upper and lower ends of the power source lifting base assembly 47 are respectively provided with lifting limit I 40 and lifting limit II 43, which are used to limit the lifting stroke of the linear motor assembly 41. A cable chain box 45 is provided on one side of the power source lifting base assembly 47, and the cable chain box 45 is connected to the linear motor assembly 41.

[0053] like Figure 13 As shown in the embodiment of the present invention, the power source assembly 53 includes a power source reducer 49, a power source motor 50, a gearbox assembly 51, and a miniature torque angle sensor 52. The input shaft of the power source reducer 49 is connected to the power source motor 50, and the output shaft of the power source reducer 49 is connected to the input shaft of the gearbox assembly 51. The gearbox assembly 51 is an offset gearbox, and the axis of the output shaft of the gearbox assembly 51 is arranged vertically. The miniature torque angle sensor 52 is coaxially mounted with the output shaft of the gearbox assembly 51, therefore their rotation angles are the same.

[0054] In this embodiment of the invention, the power source slide assembly 46 is an aluminum alloy box-shaped structure with weight-reduction holes to reduce its weight. A power source assembly 53 is integrated at the end of the box. A lifting slide execution rail 48 is fixed on the power source slide assembly 46, allowing the power source slide assembly 46 to perform low-resistance linear motion along the lifting slide execution rail 48. The lifting slide execution rail 48 is fixed on the power source lifting base assembly 47, which serves as the outer shell of the entire power source system. The power source lifting base assembly 47 is connected to the translation slide plate 15 of the upper tooling horizontal feed system 2 via a support flange 44. The lifting slide execution rail 48 is fixed on the two vertical plates of the power source lifting base assembly 47. A linear motor guide rail 42 is fixed on the back plate of the power source lifting base assembly 47, allowing the linear motor assembly 41 to perform low-resistance linear motion along the linear motor guide rail 42. One side of the linear motor assembly 41 is hinged to the chain 39, so the lifting of the linear motor assembly 41 drives the chain 39 to lift. Simultaneously, power is transmitted via the sprocket 37 to the power source slide assembly 46, which is also hinged to the other end of the chain 37, causing the power source slide assembly 46 to move up and down. The power source motor 50 reduces speed and increases torque through the power source reducer 49 and gearbox assembly 51. The output shaft of the gearbox assembly 51 is also equipped with a miniature torque and angle sensor 52, which can directly measure the torque and angle values ​​output by the power source output shaft, improving the accuracy of the power source output. Lifting limiters prevent the linear motor from accidentally moving out of the designated area.

[0055] In this embodiment, 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, while the pneumatic cylinders are controlled by external magnetic switches to complete closed-loop position detection.

[0056] This invention provides a semi-automatic tightening device for confined spaces. Connected to the rear shaft port of an engine via an adapter, it performs tightening and capping of nuts between high-pressure rotor discs in aero-engines. It boasts advantages such as consistent tightening quality, high tightening accuracy, and high tightening efficiency. This invention employs a tightening power system positioned near the tightening gearbox, reducing the tightening transmission distance and minimizing 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 to ensure the tightening torque accuracy of the nuts. 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 monitor the tightening angle. The tightening mechanism uses a support-and-counter-torsion method, featuring high static structural 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 utilizes a human-machine interface touch panel to operate the CNC system, featuring high automation and high motion accuracy, avoiding human error and ensuring consistent tightening of all nuts.

[0057] This invention provides a semi-automatic tightening device for confined spaces, the specific implementation process of which includes the following steps:

[0058] Return all electrical components to their initial positions: the lifting slide top plate 9 is moved to the high zero position, the translation slide plate 15 is moved to the retraction zero position, the upper tooling indexing and positioning system 4 is rotated to the 0° position, the bottom drive cylinder 35 is retracted, the linear motor assembly 41 is returned to the initial low position, the gearbox assembly 26 is folded to a 90° position, and the folding gearbox assembly II 28 and rack assembly 56 are retracted. All zero points are detected by the absolute encoder of the motor and the magnetic switch of the cylinder. Only after all zero points are confirmed to be zero can the CNC system perform subsequent operations.

[0059] 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.

[0060] The lifting action in the automatic nail finding process: the cylinder rod of the lifting drive electric cylinder 8 retracts, causing the lifting slide plate 11 to move downward relative to the lifting slide top plate 9, completing the tightening central system 6 to move downward along the rear axle axis into place.

[0061] Tightening the central system deployment: Initially, the gearbox is in a 90° position, entirely within the projected cylindrical surface of the base. During hoisting, the tightening gearbox assembly 26 will not interfere with the engine cavity. After the tightening gearbox assembly 26 is hoisted into place, the hook rod 54 is manually inserted into the tail ring of the folding gearbox assembly I 27, and the folding gearbox assembly I 27 is swung along the hinge pin to a level position. Then, the folding gearbox assembly I 27 and folding gearbox assembly II 28 are pushed forward as a whole. The gear shaft rod 55 is manually inserted and rotated. The end of the gear shaft rod 55 drives the rack assembly 56 forward, pushing the folding gearbox assembly II 28 and folding gearbox assembly I 27 to the designated position. At this point, the deployment of the tightening central system 6 is completed. When capping is required, since the tightening sleeve 58 is also located within the projected cylindrical surface of the gearbox base 29 when the gearbox assembly 26 is in a 90° position, the nut can be directly inserted into the tightening sleeve 58 through the upper inlet of the tooling using a slender rod clamping tool, completing the loading action. Therefore, this device can perform tightening operations while simultaneously capping operations. After the work is completed, the hook rod 54 and the gear shaft rod 55 are removed.

[0062] The horizontal feeding action in the automatic nail finding action: the translation drive motor 14 drives the translation drive gear 16 to rotate, the translation rack 18 and the translation linear guide 17 are both fixed on the lifting slide plate 11, the translation slide plate 15 feeds forward along the translation linear guide 17 relative to the lifting slide plate 11, and completes the radial movement of the power source lifting system 1 along the rear axle into place. At this time, the power source assembly 53 is located at the top of the torque input port of the tightening gearbox assembly 26. After descending, the power source docking action can be completed.

[0063] In the automatic nail finding process, the circumferential indexing action is as follows: the indexing drive motor drives the indexing drive pinion assembly 25 to rotate, the indexing fixed large gear 22 meshes with the indexing drive pinion assembly 25, and the indexing drive pinion assembly 25 revolves around the indexing fixed large gear 22. It is also guided by the indexing bearing seat assembly 21 to drive the lifting slide mounting base 13 to rotate 360° around the center of the indexing bearing seat assembly 21, thus completing the indexing action.

[0064] The aforementioned descent, feed, and indexing actions are linked actions controlled by the CNC system, completing the automatic nail-finding action of the tightening central system 6.

[0065] Before the tightening operation begins, the bottom support system 7 mounted on the tightening central system 6 needs to automatically deploy to increase the anti-torsional rigidity of the cantilevered tightening central system 6 that extends into the rear axle of the engine.

[0066] Bottom support deployment action: The bottom drive cylinder 35 pushes the hinge point on the bottom connecting rod assembly 33 to rise, completing the separation of the bottom connecting rod assembly 33 to both sides. The bottom connecting rod assembly 33 and the bottom support fingers 32 are hinged structures, and the bottom support fingers 32 and the sliding groove of the bottom support base 31 are connected by a sliding pair. Therefore, the bottom connecting rod assembly 33 is driven by the bottom connecting rod push head 34 to rise, causing the upper end of the connecting rod to separate to both sides, and then driving the two bottom support fingers 32 to move symmetrically to the outside, completing the symmetrical centering deployment movement of the bottom support fingers 32.

[0067] Power source connection: The linear motor assembly 41 rises, simultaneously transmitting power via the sprocket 37 to the power source slide assembly 46, which is also hinged to the other end of the chain 39, causing the power source slide assembly 46 to descend. The power input interface of the tightening gearbox assembly 26 is then inserted, completing the power source setup. At this point, the tightening power of the power source can be directly transmitted to the tightening gearbox assembly 26, such as... Figure 14 As shown.

[0068] Tightening operation begins: The power source motor 50 drives the tightening sleeve 58, which is output from the end of the tightening gearbox assembly 26, to rotate. The tightening gearbox assembly 26 is driven by the lifting slide plate 11 to lift the tightening central system 6, thus completing the cap recognition action. Once the torque value and lifting height detected by the miniature torque sensor integrated in the tightening sleeve 58 reach the process setting value, the cap recognition is considered successful. The tightening sleeve 58 continues to apply torque, while detecting the sleeve's rising distance and rotation angle. When they reach the specified process value, the tightening is considered complete in one operation.

[0069] Tighten the next nut: The bottom support finger 32 retracts, the tightening sleeve 58 rotates to a specific angle and then moves down to the designated height, and the upper tooling indexing and positioning system 4 moves to the diagonal position according to the diagonal tightening process route, repeating the previous tightening operation until all nuts are tightened.

[0070] 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.

[0071] If capping is required, add a step before step four to insert the nut into the tightening sleeve 58, which can simultaneously perform the capping operation.

[0072] 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 semi-automatic tightening device for confined spaces, characterized in that, The system includes a power source lifting system (1), an upper tooling horizontal feed system (2), an upper tooling lifting system (3), an upper tooling indexing and positioning system (4), a tightening central system (6), and a bottom support system (7). The power source lifting system (1), upper tooling horizontal feed system (2), upper tooling lifting system (3), and upper tooling indexing and positioning system (4) are connected sequentially from top to bottom. The tightening central system (6) is connected to the upper tooling lifting system (3), and the bottom support system (7) is connected to the tightening central system. 6) bottom; power source lifting system (1) is used to complete the docking action of tightening power source, upper tooling horizontal feed system (2) is used to complete the overall horizontal feed of power source lifting system (1), upper tooling lifting system (3) is used to complete the lifting and lowering movement of tightening central system (6), upper tooling indexing and positioning system (4) is used to complete the rotation indexing of tightening central system (6), tightening central system (6) is used to complete the tightening power output, bottom support system (7) is used to assist tightening central system (6) in completing radial support; The tightening central system (6) includes a protective cylinder assembly (20) and a tightening gearbox assembly (26), wherein the upper end of the protective cylinder assembly (20) is connected to the upper tooling lifting system (3), and the tightening gearbox assembly (26) is located at the bottom of the protective cylinder assembly (20); The tightening gearbox assembly (26) includes a gearbox base (29) and folding gearbox assembly I (27) and folding gearbox assembly II (28) slidably connected to the gearbox base (29). Folding gearbox assembly I (27) and folding gearbox assembly II (28) are connected by transmission, and the housings of folding gearbox assembly I (27) and folding gearbox assembly II (28) are hinged to each other. Folding gearbox assembly I (27) is provided with a tightening input shaft (59), and the output shaft of folding gearbox assembly II (28) is provided with a tightening sleeve (58).

2. The semi-automatic tightening equipment for confined spaces according to claim 1, characterized in that, The upper tooling lifting system (3) includes a lifting drive electric cylinder (8), a lifting slide top plate (9), a lifting slide guide assembly (10), a lifting slide plate (11), and a lifting slide mounting base (13). The lifting slide top plate (9) is located above the lifting slide mounting base (13) and is fixedly connected by the lifting slide guide assembly (10). The lifting slide plate (11) is slidably engaged with the lifting slide guide assembly (10). The lifting drive electric cylinder (8) is located on the lifting slide plate (11) and its output end is connected to the lifting slide top plate (9). The lifting drive electric cylinder (8) provides power for the lifting of the lifting slide plate (11), and the lifting slide guide assembly (10) provides guidance for the lifting of the lifting slide plate (11).

3. The semi-automatic tightening equipment for confined spaces according to claim 2, characterized in that, The upper tooling horizontal feed system (2) includes a translation drive motor (14), a translation slide plate (15), a translation drive gear (16), a translation linear guide rail (17), and a translation rack (18). The translation linear guide rail (17) and the translation rack (18) are arranged parallel to each other on the lifting slide plate (11). The translation slide plate (15) and the translation linear guide rail (17) are slidably engaged. The translation drive motor (14) is arranged on the translation slide plate (15), and its output end is connected to the translation drive gear (16). The translation drive gear (16) meshes with the translation rack (18). The translation drive motor (14) provides power for the horizontal movement of the translation slide plate (15) along the translation linear guide rail (17).

4. The semi-automatic tightening equipment for confined spaces according to claim 2, characterized in that, The upper tooling indexing and positioning system (4) includes an indexing bearing seat assembly (21), an indexing fixed large gear (22), a tooling base (23), an indexing drive small gear assembly (25), and an indexing drive motor. The tooling base (23) is located below the lifting slide mounting base (13) and is rotatably connected to the lifting slide mounting base (13) through the indexing bearing seat assembly (21). The indexing fixed large gear (22) is coaxially fixed on the outside of the indexing bearing seat assembly (21). The indexing drive motor is located on the lifting slide mounting base (13) and its output end is connected to the indexing drive small gear assembly (25). The indexing drive small gear assembly (25) meshes with the indexing fixed large gear (22).

5. The semi-automatic tightening device for confined spaces according to claim 1, characterized in that, The power source lifting system (1) includes a flexible belt drive mechanism, a linear motor assembly (41), a linear motor guide rail (42), a power source slide assembly (46), a power source lifting base assembly (47), a lifting slide execution rail (48), and a power source assembly (53). The power source lifting base assembly (47) is fixed on the upper tooling horizontal feed system (2). The lifting slide execution rail (48) and the linear motor guide rail (42) are respectively located on the front and back of the power source lifting base assembly (47). The linear motor assembly (41) and the linear motor guide rail (42) are connected to the power source lifting base assembly (47). The guide rail (42) is slidably engaged and used to output power in the vertical direction; the power source slide assembly (46) is slidably engaged with the lifting slide execution rail (48); the power source assembly (53) is set at the lower end of the power source slide assembly (46); the flexible belt drive mechanism is set on the power source lifting base assembly (47), and its two ends are respectively connected to the linear motor assembly (41) and the power source slide assembly (46). The flexible belt drive mechanism is used to transmit the power of the linear motor assembly (41) to the power source slide assembly (46) so that the power source slide assembly (46) can be lifted.

6. The semi-automatic tightening device for confined spaces according to claim 5, characterized in that, The power source assembly (53) includes a power source reducer (49), a power source motor (50), a gearbox assembly (51), and a miniature torque angle sensor (52). The input shaft of the power source reducer (49) is connected to the power source motor (50), and the output shaft of the power source reducer (49) is connected to the input shaft of the gearbox assembly (51). The axis of the output shaft of the gearbox assembly (51) is arranged in the vertical direction, and the miniature torque angle sensor (52) is coaxially mounted with the output shaft of the gearbox assembly (51).

7. The semi-automatic tightening equipment for confined spaces according to claim 1, characterized in that, The tail of the folding gearbox assembly I (27) is provided with a lifting ring; the folding gearbox assembly II (28) is provided with a rack assembly (56) along the translational direction of the tightening gearbox assembly (26); the gearbox base (29) is provided with an interface corresponding to the rack assembly (56); During operation, the operator hooks the lifting ring with a long rod hook (54) and drives the folding gearbox assembly I (27) to be leveled; the operator engages the gear shaft long rod (55) with the rack assembly (56) at the interface of the gearbox base (29) and rotates the gear shaft long rod (55) to drive the tightening gearbox assembly (26) to move forward.

8. The semi-automatic tightening equipment for confined spaces according to claim 1, characterized in that, The bottom support system (7) includes a bottom support base (31), bottom support fingers (32), a bottom linkage assembly (33), a bottom linkage pusher (34), a bottom drive cylinder (35), and a protective shell (36). The bottom support base (31) has two bottom support fingers (32) slidably connected to its top. The bottom drive cylinder (35) is mounted on the bottom support base (31), and its output end is connected to the bottom linkage assembly (33) via the bottom linkage pusher (34). The bottom linkage assembly (33) is connected to the two bottom support fingers (32). The protective shell (36) is located on the outside of the bottom drive cylinder (35). The bottom drive cylinder (35) drives the two bottom support fingers (32) to complete the centering and unfolding motion via the bottom linkage assembly (33).

9. The semi-automatic tightening device for confined spaces according to claim 8, characterized in that, The bottom link assembly (33) includes two links, the lower ends of which are hinged to the bottom link push head (34) via hinge shafts, and the upper ends are respectively hinged to the two bottom support fingers (32).

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