Automatic nut tightening equipment for narrow space

Abstract

The present application relates to the technical field of automation assembly, in particular to a kind of automatic nut tightening equipment in narrow space.It includes tool lifting system, tool horizontal feed system, index positioning system, tightening central system and bottom support system, wherein the lower tool lifting system is connected with index positioning system, tool horizontal feed system is set in the upper tool lifting system, tightening central system is connected with tool horizontal feed system, bottom support system is set in the lower tightening central system, for completing the support of bottom disc shaft surface by tightening central system;Tool lifting system is used to complete the lifting movement of tightening central system, tool horizontal feed system is used to complete the horizontal feed of tightening central system, index positioning system is used to complete the rotation index of tightening central system, and tightening central system is used to complete the closed-loop output of tightening power.The present application realizes automatic nut tightening in narrow space, improves work efficiency and operation fault tolerance, and ensures assembly accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic assembly technology, in particular to a kind of automatic nut tightening equipment in narrow space. BACKGROUND

[0002] In the aero-engine core engine, the high-pressure rotor is mainly composed of high-pressure compressor rotor and high-pressure turbine rotor assembly, and the high-pressure compressor rotor multi-stage disc is fastened by tens of thread connectors evenly distributed along the axis, to realize the main structure assembly of high-pressure rotor. For some models, the nut in the threaded fastener is a back-mounted nut of the screen disc, which is located at the rear side of the screen disc, and the contact end face is pressed against the rear mounting edge of the high-pressure turbine rotor, and the connecting bolt uses a special D-shaped bolt with axial limiting and rotation locking functions. Since the high-pressure rotor is the core power component of the aero-engine, it works under high temperature and high pressure external load conditions, its speed can be as high as 18000 rpm, and it bears an axial load of 30-40t, while the connection part of the high-pressure compressor rotor and the high-pressure turbine rotor is a key vulnerable position, and the tightening quality of the threaded connector is an important factor affecting the assembly performance and the operation reliability of the whole machine.

[0003] In the high pressure rotor assembly process, the main assembly processes such as bolt pre-assembly, assembly docking and fastening are completed in turn. For the fastening process, the nut needs to be installed and tightened inside the high pressure rotor. The space size of the internal tightening of the high pressure rotor changes according to different engine models, but it has the characteristics of long space layout. The axial depth distance of the nut relative to the rear shaft port of the high pressure turbine rotor is 600-800mm, the channel diameter of the rear shaft of the high pressure turbine rotor is φ90-150mm, and the nut distribution diameter size is φ200-400mm. For the tightening mechanism operation, there are difficulties such as long feeding channel, small tightening space and multi-region interference. At present, the main way is to use the long and thin tightening tool to penetrate, deflect and tighten. A large amount of manual operation method is needed in the process, and there is no successful application case of automatic special tightening equipment. The following shortcomings exist: (1) Poor assembly quality consistency: the manual operation of the mechanical tool has problems such as nut installation deviation and inclination, and cannot guarantee the tightening consistency of each nut; the current application device is mainly in the form of a slender rod, and the overall stiffness is low, the reverse torsion effect is poor, which leads to deformation of the device under load in the tightening process, affecting the tightening quality; (2) Low assembly precision: the current application device mainly uses a manual torque tool or an external torque system as the tightening power input, and cannot realize closed-loop detection in the tightening process. The actual torque and rotation angle of the nut deviate from the sensor value at the far end, and there is random error that is difficult to compensate, which cannot guarantee the tightening torque and angle precision of the nut; (3) Low assembly efficiency: after the nut group is installed and tightened for the first time, the device needs to be repeatedly inserted and removed in the high pressure rotor to complete the correct positioning of the tightening sleeve relative to each angular nut, which takes a lot of time, and the second tightening operation efficiency is low. SUMMARY

[0004] In order to solve the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a narrow space nut automatic tightening equipment. The device has good tightening quality consistency, high tightening precision and high tightening efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The application provides a kind of automatic nut tightening equipment in narrow space, including tool lifting system, tool horizontal feed system, indexing positioning system, tightening central system and bottom support system, wherein the lower part of tool lifting system is connected with indexing positioning system, tool horizontal feed system is arranged above tool lifting system, tightening central system is connected with tool horizontal feed system, and bottom support system is arranged below tightening central system;Bottom support system is used to complete the support of tightening central system to the bottom disc shaft surface of engine rear axle;Tool lifting system is used to complete the lifting movement of tightening central system, tool horizontal feed system is used to complete the horizontal feed of tightening central system, indexing positioning system is used to complete the 360 ° rotation indexing of tightening central system, and tightening central system is used to complete the closed-loop output of tightening power.

[0007] The tool lifting system includes lifting system drive electric cylinder, lifting slide upper mounting plate, lifting slide guide light shaft, tool lifting slide and tool lifting base, wherein the lifting slide upper mounting plate and the tool lifting base are arranged up and down and fixedly connected through a plurality of lifting slide guide light shafts, the tool lifting slide is slidably connected with the plurality of lifting slide guide light shafts, the lifting system drive electric cylinder is arranged on the tool lifting slide, and the output end is connected with the lifting slide upper mounting plate.

[0008] The tool horizontal feed system includes translation feed drive component, translation slide, translation drive gear, translation drive rack, translation slider and translation guide rail, wherein the translation drive rack and the translation guide rail are arranged in parallel on the tool lifting slide, the translation slide is slidably matched with the translation slider and the translation guide rail;The translation feed drive component is arranged on the translation slide, and the output end is connected with the translation drive gear, and the translation drive gear is engaged with the translation drive rack.

[0009] The indexing positioning system includes tool rotary table base, indexing drive component, indexing driven large gear, indexing driven small gear, indexing driving gear base, indexing driving gear and bearing seat assembly, wherein the tool rotary table base is arranged below the tool lifting base and rotationally connected with the tool lifting base through the bearing seat assembly;The indexing driving gear base and the bearing seat assembly are coaxially installed on the tool rotary table base;The indexing drive component is arranged on the tool lifting base and the output end is connected with the indexing driving gear, the indexing driving gear is rotationally installed on the indexing driving gear base arranged on the tool lifting base, and the indexing driving gear is engaged with the indexing driven large gear;The indexing drive component drives the indexing driving gear to rotate, and at the same time, the indexing driving gear revolves around the indexing driven large gear, thereby driving the tool lifting base to rotate.

[0010] The indexing driven small gear is rotationally installed on the bearing seat assembly and engaged with the indexing driven large gear.

[0011] The tightening central system comprises a turnover transmission mechanism, a lifting transmission mechanism, a tightening spindle, a tightening power source lifting guide rail, a motor assembly and a tightening gear box, wherein the upper end of the tightening spindle is connected with the tool horizontal feeding system, the lower end of the tightening spindle is hingedly connected with the tightening gear box, the lower part of the tightening spindle is provided with the tightening power source lifting guide rail in the vertical direction, and the motor assembly is slidingly connected with the tightening power source lifting guide rail; the turnover transmission mechanism and the lifting transmission mechanism are arranged on the tool horizontal feeding system, the turnover transmission mechanism is connected with the tightening gear box, and the turnover transmission mechanism is used for driving the tightening gear box to turn over in the vertical direction; the lifting transmission mechanism is connected with the motor assembly, the lifting transmission mechanism is used for driving the motor assembly to slide up and down along the tightening power source lifting guide rail, so that the motor assembly and the input shaft of the tightening gear box are docked or separated; the output shaft of the tightening gear box is arranged in parallel with the input shaft, and a micro torque sensor and a tightening sleeve are sequentially arranged on the output shaft.

[0012] The turnover transmission mechanism comprises a power transmission long connecting rod, a folding connecting rod and a turnover drive electric cylinder, wherein the turnover drive electric cylinder is arranged on the tool horizontal feeding system, the upper end of the power transmission long connecting rod is connected with the output end of the turnover drive electric cylinder, the lower end of the power transmission long connecting rod is hingedly connected with one end of the folding connecting rod, and the other end of the folding connecting rod is hingedly connected with the shell of the tightening gear box.

[0013] The lifting transmission mechanism comprises a tightening power source lifting cylinder and a tightening power source lifting cylinder long connecting rod, wherein the tightening power source lifting cylinder is arranged on the tool horizontal feeding system, the output end is connected with the upper end of the tightening power source lifting cylinder long connecting rod, and the lower end of the tightening power source lifting cylinder long connecting rod is connected with the motor assembly.

[0014] The outer sides of the tightening central system and the bottom support system are symmetrically provided with protection cylinders I and II, and the upper ends of the protection cylinders I and II are connected with the bottom of the tool lifting system.

[0015] The bottom support system comprises a bottom support finger, a bottom shell, a bottom drive motor, a bottom hinged connecting rod, a bottom lead screw, a bottom nut, a bottom limiting block and a bottom coupling, wherein the bottom shell is connected between the protection cylinders I and II, the bottom lead screw is rotatably installed in the bottom shell and is in threaded connection with the bottom nut, the two sides of the bottom nut are symmetrically provided with support connecting rod mechanisms, the two groups of support connecting rod mechanisms are expanded or retracted to the two sides by driving of the bottom nut, and the bottom limiting block is arranged on the inner bottom of the bottom shell and is used for axially limiting the bottom nut.

[0016] The support linkage comprises a bottom support finger and a bottom hinged linkage, wherein the upper end of the bottom hinged linkage is hinged with the bottom housing, the lower end of the bottom hinged linkage is hinged with the upper part of the bottom support finger, the lower end of the bottom support finger is hinged with the bottom nut, and the bottom nut is lifted along the bottom screw to drive the bottom support finger to unfold or fold.

[0017] The application has the advantages and beneficial effects that the application provides a nut automatic tightening equipment in narrow space, realizes automatic nut tightening in narrow space, improves work efficiency and operation fault tolerance, and ensures assembly precision.

[0018] The application ensures the consistency of nut tightening, avoids nut installation deviation and inclination, and improves hat mounting quality.

[0019] The application detects tightening power input through a torque sensor, realizes closed-loop detection in the tightening process, ensures nut tightening torque and rotation angle precision, and has high assembly precision. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is an axonometric view of the nut automatic tightening equipment in narrow space of the application;

[0021] Figure 2 It is a structural schematic view of the tool lifting system in the application;

[0022] Figure 3 It is a structural schematic view of the horizontal feeding system in the application;

[0023] Figure 4 It is a structural schematic view of the indexing positioning system in the application;

[0024] Figure 5 It is a sectional view of the indexing positioning system in the application;

[0025] Figure 6 It is a structural schematic view of the tightening hub system in the application;

[0026] Figure 7 It is an axonometric view of the bottom support system in the application;

[0027] Figure 8 It is a sectional view of the bottom support system in the application.

[0028] In the diagram: 1. Tooling lifting system; 2. Horizontal feed system; 3. Indexing and positioning system; 4. Tightening central system; 5. Bottom support system; 6. Engine rear axle simulation component; 7. Lifting system drive cylinder; 8. Upper mounting plate of lifting slide; 9. Lifting slide guide shaft; 10. Lifting slide ball linear bearing; 11. Shaft fixing seat; 12. Tooling lifting slide; 13. Tooling lifting base; 14. Tooling turntable base; 15. Tooling lifting fixture; 16. Translation feed drive component; 17. Translation slide; 18. Translation drive gear; 19. Translation drive rack; 20. Translation slider; 21. Translation guide rail; 22. Indexing drive component; 23. Indexing driven large gear; 24. Indexing driven small gear; 25. Indexing drive gear seat; 26. Indexing drive backlash elimination gear. 27. Wheel, Tooling transition flange, 28. Bearing housing assembly, 29. Tightening mandrel, 30. Power transmission long connecting rod, 31. Folding connecting rod, 32. Tilting drive electric cylinder, 33. Tightening power source lifting cylinder, 34. Tightening power source lifting cylinder long connecting rod, 35. Tightening power source lifting guide rail, 36. Motor assembly, 37. Tightening sleeve, 38. Miniature torque sensor, 39. Tightening gearbox, 40. Protective cylinder I, 41. Bottom support finger, 42. Bottom support base, 43. Bottom support connector, 44. Bottom drive motor, 45. Protective cylinder II, 46. Bottom tooling base plate, 47. Bottom hinged connecting rod, 48. Bottom lead screw, 49. Bottom lead nut, 50. Bottom top plate, 51. Bottom pin, 52. Bottom limit block, 53. Bottom coupling. Detailed Implementation

[0029] 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.

[0030] like Figure 1 As shown, this invention provides an automatic nut tightening device for confined spaces, including a tooling lifting system 1, a tooling horizontal feed system 2, an indexing and positioning system 3, a tightening central system 4, and a bottom support system 5. The tooling lifting system 1 is connected to the indexing and positioning system 3 at its lower end. The tooling horizontal feed system 2 is positioned above the tooling lifting system 1. The tightening central system 4 is connected to the tooling horizontal feed system 2. The bottom support system 5 is positioned below the tightening central system 4 and is used to support the bottom impeller shaft center surface of the tightening central system 4. The tooling lifting system 1 is used to complete the lifting and lowering movement of the tightening central system 4. The tooling horizontal feed system 2 is used to complete the horizontal feed of the tightening central system 4. The indexing and positioning system 3 is used to complete the 360° rotation indexing of the tightening central system 4. The tightening central system 4 is used to complete the closed-loop output of tightening power.

[0031] like Figure 2As shown in the figure, in the embodiment of the present application, the tool lifting system 1 comprises a lifting system driving electric cylinder 7, a lifting slide upper mounting plate 8, a lifting slide guide optical shaft 9, a tool lifting slide 12 and a tool lifting base 13. The lifting slide upper mounting plate 8 and the tool lifting base 13 are arranged in an up-down manner and are fixedly connected through the plurality of lifting slide guide optical shafts 9. The two ends of the lifting slide guide optical shaft 9 are fixed through the optical shaft fixing seat 11. The tool lifting slide 12 is slidably connected with the plurality of lifting slide guide optical shafts 9 through the lifting slide ball linear bearing 10. The lifting system driving electric cylinder 7 is arranged on the tool lifting slide 12 and the output end is connected with the lifting slide upper mounting plate 8. In the embodiment, the lifting system driving electric cylinder 7 provides power for the lifting of the tool lifting slide 12, so that the tool lifting slide 12 moves up and down along the lifting slide guide optical shaft 9. The cylinder body of the lifting system driving electric cylinder 7 moves with the tool lifting slide 12. This structure makes the overall gravity center more stable and the movement more stable.

[0032] As shown in the figure, Figure 3 In the embodiment of the present application, the tool horizontal feeding system 2 comprises a translation feeding driving component 16, a translation slide 17, a translation driving gear 18, a translation driving rack 19, a translation slide block 20 and a translation guide rail 21. The translation driving rack 19 and the translation guide rail 21 are arranged in parallel on the tool lifting slide 12. The translation slide 17 is slidably matched with the translation slide block 20 and the translation guide rail 21. The translation feeding driving component 16 is arranged on the translation slide 17 and the output end is connected with the translation driving gear 18. The translation driving gear 18 is engaged with the translation driving rack 19. Specifically, the translation feeding driving component 16 comprises a translation feeding driving motor and a speed reducer. The translation feeding driving component 16 provides translation power for the translation slide 17. The translation guide rail 21 provides guidance for the translation slide 17.

[0033] As shown in the figure, Figure 4 , Figure 5As shown, in the embodiment of the present application, the index positioning system 3 comprises a tool rotary table base 14, an index driving component 22, an index driven large gear 23, an index driven small gear 24, an index driving gear base 25, an index driving anti-backlash gear 26 and a bearing seat assembly 28, wherein the tool rotary table base 14 is arranged below the tool lifting base 13 and is rotatably connected with the tool lifting base 13 through the bearing seat assembly 28; the index driving gear base 25 is coaxially fixedly installed on the tool rotary table base 14 with the bearing seat assembly 28; the index driving component 22 is arranged on the tool lifting base 13 and has an output end connected with the index driving anti-backlash gear 26, the index driving anti-backlash gear 26 is rotatably installed on the index driving gear base 25 arranged on the tool lifting base 13, and the index driving anti-backlash gear 26 is engaged with the index driven large gear 23; the index driving component 22 drives the index driving anti-backlash gear 26 to rotate, and at the same time, the index driving anti-backlash gear 26 revolves around the index driven large gear 23, thereby driving the tool lifting base 13 to rotate by 360°; the index driven small gear 24 is rotatably installed on the bearing seat assembly 28 and is engaged with the index driven large gear 23. In the embodiment, the index driving component 22 comprises an index driving motor and a speed reducer, the index driving component 22 provides power for the rotary index positioning, the bearing seat assembly 28 provides guidance for the rotary motion, the index driven small gear 24 follows the rotation and plays a role of eliminating the unbalanced load. The bearing seat assembly 28 comprises a bearing seat and a bearing, the bearing comprises a bearing inner ring and a bearing outer ring, the bearing inner ring is fixed on the tool lifting base 13, and the bearing seat is fixed on the tool rotary table base 14.

[0034] Further, tool lifting lugs 15 are arranged on both sides of the tool rotary table base 14, so as to be hoisted.

[0035] As Figure 6As shown, in the embodiment of the present application, the tightening central system 4 comprises a turnover transmission mechanism, a lifting transmission mechanism, a tightening mandrel 29, a tightening power source lifting guide rail 35, a motor assembly 36 and a tightening gear box 39, wherein the upper end of the tightening mandrel 29 is connected with the translation slide 17 of the tool horizontal feeding system 2, the lower end of the tightening mandrel 29 is hinged with the tightening gear box 39, the lower part of the tightening mandrel 29 is provided with the tightening power source lifting guide rail 35 in the vertical direction, and the motor assembly 36 is slidingly connected with the tightening power source lifting guide rail 35; the turnover transmission mechanism and the lifting transmission mechanism are arranged on the translation slide 17 of the tool horizontal feeding system 2, the turnover transmission mechanism is connected with the tightening gear box 39, and the turnover transmission mechanism is used to drive the tightening gear box 39 to turn over in the vertical direction; the lifting transmission mechanism is connected with the motor assembly 36, and the lifting transmission mechanism is used to drive the motor assembly 36 to slide up and down along the tightening power source lifting guide rail 35, so as to realize the butt joint or disengagement of the motor assembly 36 and the input shaft of the tightening gear box 39; the output shaft of the tightening gear box 39 is arranged in parallel with the input shaft, and a micro torque sensor 38 and a tightening sleeve 37 are sequentially arranged on the output shaft. Further, the motor assembly 36 comprises a tightening motor and a rotation angle encoder connected with the tightening motor.

[0036] In the embodiment of the present application, the turnover transmission mechanism comprises a power transmission long connecting rod 30, a folding connecting rod 31 and a turnover drive electric cylinder 32, wherein the turnover drive electric cylinder 32 is arranged on the translation slide 17 of the tool horizontal feeding system 2, the upper end of the power transmission long connecting rod 30 is connected with the output end of the turnover drive electric cylinder 32, the lower end of the power transmission long connecting rod 30 is hinged with one end of the folding connecting rod 31, and the other end of the folding connecting rod 31 is hinged with the shell of the tightening gear box 39. When the turnover drive electric cylinder 32 pushes the power transmission long connecting rod 30 to move downward, the power transmission long connecting rod 30 drives the folding connecting rod 31, and the folding connecting rod 31 drives the tightening gear box 39 to swing around the hinged point of the tightening gear box 39 and the tightening mandrel 29.

[0037] In the embodiment of the present application, the lifting transmission mechanism comprises a tightening power source lifting cylinder 33 and a tightening power source lifting cylinder long connecting rod 34, wherein the tightening power source lifting cylinder 33 is arranged on the translation slide 17 of the tool horizontal feeding system 2, and the output end is connected with the upper end of the tightening power source lifting cylinder long connecting rod 34, and the lower end of the tightening power source lifting cylinder long connecting rod 34 is connected with the motor assembly 36. The tightening power source lifting cylinder 33 drives the motor assembly 36 to lift and lower through the tightening power source lifting cylinder long connecting rod 34, and the lifting and lowering of the motor assembly 36 is guided by the tightening power source lifting guide rail 35.

[0038] Further, as shown in FIG. 2, the tightening mandrel 29 is provided with a plurality of tightening sleeves 37, and the tightening sleeves 37 are arranged in the circumferential direction of the tightening mandrel 29. Figure 4 , Figure 7As shown, the outer sides of the tightening central system 4 and the bottom support system 5 are symmetrically provided with protection cylinders I 40 and protection cylinders II 45, the upper ends of the protection cylinders I 40 and the protection cylinders II 45 are connected with the tooling lifting base 13 through the tooling transition flange 27, so as to ensure that the protection cylinders I 40 and the protection cylinders II 45 rotate with the equipment. The tooling transition flange 27 is used for connecting the tightening equipment with the rear axle of the engine.

[0039] When the tightening operation is needed, the tightening mandrel 29 is controlled to descend by the tooling lifting system 1, because the upper end of the tightening mandrel 29 is fixedly connected to the translation sliding table 17, and the translation sliding table 17 is slidingly connected with the tooling lifting sliding table 12, so when the tooling lifting sliding table 12 is driven to ascend and descend by the lifting system driven cylinder 7, the translation sliding table 17 also ascends and descends at the same time, and then the tightening mandrel 29 also ascends and descends at the same time. At the same time, the flip driving cylinder 32 pulls the power transmission long connecting rod 30 upward, the power transmission long connecting rod 30 drives the folding connecting rod 31 to ascend, pulls the tightening gear box 39 to swing around the joint point of the tightening mandrel 29 and the tightening gear box 39, and until the tightening gear box 39 is swung flat. Then, the horizontal feeding system 2 drives the tightening mandrel 29 to move horizontally, and then makes the tightening gear box 39 translate to complete the nail searching to position action; the tightening power source lifting cylinder 33 is fixed to the translation sliding table 17, and the lever of the tightening power source lifting cylinder 33 is connected with the tightening motor through a tightening power source lifting cylinder long connecting rod 34. The tightening power source lifting cylinder 33 drives the tightening power source lifting cylinder long connecting rod 34 to move the motor assembly 36 vertically downward along the tightening power source lifting guide rail 35, and inserts into the power input interface of the tightening gear box 39, to complete the power source building. When the motor assembly 36 outputs the torque, the tightening sleeve 37 outputs the torque to complete the tightening operation, and at the same time, the micro torque sensor 38 installed on the tightening sleeve 37 completes the closed loop real-time detection of the output torque of the tightening sleeve 37.

[0040] As shown in the embodiment of the present application, Figure 7 , Figure 8 The bottom support system 5 includes a bottom support finger 41, a bottom shell, a bottom driving motor 44, a bottom hinged connecting rod 47, a bottom lead screw 48, a bottom nut 49, a bottom limiting block 52 and a bottom coupling 53, wherein the bottom shell is connected between the protection cylinder I 40 and the protection cylinder II 45, the bottom lead screw 48 is rotatably installed in the bottom shell and is in threaded connection with the bottom nut 49, the two sides of the bottom nut 49 are symmetrically provided with support connecting rod mechanisms, the two groups of support connecting rod mechanisms are driven to expand or retract to the two sides by the bottom nut 49, the bottom limiting block 52 is arranged at the inner bottom of the bottom shell and is used for limiting the axial position of the bottom nut 49. The bottom driving motor 44 is arranged at the outer bottom of the bottom shell and is connected with the bottom lead screw 48 through the bottom coupling 53.

[0041] Specifically, the bottom shell comprises a bottom top plate 50, a bottom support base 42, a bottom support connecting piece 43 and a bottom tooling bottom plate 46, wherein the bottom tooling bottom plate 46 is connected at the bottom of the protection cylinder I 40 and the protection cylinder II 45, the bottom support connecting piece 43 and the bottom support base 42 are sequentially arranged above the bottom tooling bottom plate 46 and are fixed to each other, and the bottom top plate 50 is fixed to the top of the bottom support base 42. The bottom driving motor 44 is fixed to the bottom tooling bottom plate 46.

[0042] As shown in Figure 8 In the embodiment of the present application, the support connecting rod mechanism comprises a bottom support finger 41 and a bottom hinged connecting rod 47, wherein the upper end of the bottom hinged connecting rod 47 is hinged to the bottom top plate 50, the lower end of the bottom hinged connecting rod 47 is hinged to the upper part of the bottom support finger 41, and the lower end of the bottom support finger 41 is hinged to the bottom nut 49 through the bottom pin shaft 51. Therefore, the lifting of the bottom nut 49 along the bottom lead screw 48 drives the bottom support finger 41 to expand or retract.

[0043] When the bottom support finger 41 needs to be expanded, the bottom driving motor 44 drives the bottom lead screw 48 to rotate, the bottom nut 49 rotates upward on the bottom lead screw 48 in the direction of the guide optical axis, and the bottom support finger 41 is driven to expand symmetrically to both sides through the finger hinged shaft 51, thereby completing the bottom centering support. When the bottom support finger 41 needs to be retracted, the bottom driving motor 44 is reversed, the bottom nut 49 rotates downward on the bottom lead screw 48, and stops until it collides with the bottom limiting block 52 on the bottom tooling bottom plate 46. The bottom limiting block 52 functions as a limiting block and a motor zero-seeking block.

[0044] Tightening system adaptive calculation method: as Figure 6 shown, the center distance between the tightening mandrel 29 and the tightening sleeve 37 is L2, the maximum outer diameter of the tightening mandrel 29 is L1, the minimum diameter of the engine rear shaft is D1, the diameter of the flange hole at the tightening position is D2, and the premise condition for the use of the tooling is that L1≤D1 and D2≤D1+2L2-L1. When the equipment and the engine simultaneously satisfy the above two conditions, the equipment can meet the automatic nail seeking demand, otherwise the design size of L1 and L2 needs to be changed.

[0045] In the embodiment, all driving motors, electric cylinders and air cylinders are controlled by a numerical control system, the electric cylinder and the motor are completed by a built-in encoder, and the air cylinder is completed by an external magnetic switch to complete closed-loop position detection.

[0046] In the embodiment, the tightening position and the simulation of the central and bottom blade disc axial surfaces are completed by the engine rear shaft simulation piece 6, and the present application is connected to the engine rear shaft port through the adapter tooling.

[0047] The present application provides a kind of automatic nut tightening equipment in narrow space, and its working process includes the following steps:

[0048] (1) All electrical components back to the initial point: tool lifting slide 12 moves to the high position zero, translation slide 17 moves to the rear zero position, indexing positioning system 3 rotates to 0° position, tightening power source lifting cylinder 33 retracts, flip drive cylinder 32 pushes forward to zero position, ensuring that the tightening gear box 39 is located at an angle of 180° with the axis of the tightening spindle 29, the bottom drive motor 44 rotates to zero position, ensuring that the bottom support fingers 41 retract, all zero points are detected by the absolute value encoder of the motor and the magnetic switch of the cylinder, and the numerical control system can only perform subsequent operations after all zero points are confirmed.

[0049] (2) Equipment preloading: install the adapter flange on the rear shaft of the engine, and hoist the entire equipment onto the adapter flange to complete the positioning of the entire equipment and the rear shaft of the engine.

[0050] (3) Lifting action in automatic nail searching action: the lever of lifting system drive cylinder 7 retracts, driving tool lifting slide 12 to move down, completing the movement of tightening central system 4 along the rear shaft axis to the position.

[0051] (4) Horizontal feeding action in automatic nail searching action: translation drive motor drives translation drive gear 18 to rotate, translation drive rack 19 and translation guide rail 21 are fixed on tool lifting slide 12, translation slide 17 feeds forward along translation guide rail 21 relative to tool lifting slide 12, completing the movement of tightening central system 4 along the rear shaft radial to the position.

[0052] (5) Circumferential indexing action in automatic nail searching action: indexing drive motor drives indexing driving anti-backlash gear 26 to rotate, indexing driven large gear 23 meshes with indexing driving anti-backlash gear 26, indexing driving anti-backlash gear 26 is along the pitch circle of indexing driven large gear 23 and guided by bearing seat assembly 28, driving tool lifting base 13 to rotate 360° around the center of bearing seat assembly 28, indexing driven small gear 24 rotates following, playing the role of eliminating bias and backlash.

[0053] (6) Folding action of tightening central system: power transmission long link 30 of flip drive cylinder 32 pulls up, power transmission long link 30 drives folding link 31 to rise, pulling tightening gear box 39 to rotate around the hinge point of tightening spindle 29 until tightening gear box 39 is flat, completing the folding action of tightening central system 4.

[0054] (7) The above lowering, feeding and folding actions are linkage actions controlled by numerical control system, completing the automatic nail searching action of tightening central system.

[0055] (8) Before the tightening operation starts, the bottom support system 5 mounted on the tightening central system 4 needs to complete automatic unfolding, increasing the counter-torsional rigidity of the cantilever tightening central system extending into the rear shaft of the engine.

[0056] (9) Bottom support unfolding action: when the bottom support needs to be unfolded after the cap recognition work of the tightening gear box 39 is completed, the bottom drive motor 44 drives the bottom lead screw 48 to rotate, the bottom nut 49 rotates upward along the guide optical axis direction on the bottom lead screw 48, and the bottom support fingers 41 are driven by the bottom pin shaft 51 to unfold symmetrically to both sides, completing the bottom centering support. When the bottom support needs to be retracted, the bottom drive motor 44 reverses, the bottom nut 49 rotates downward on the bottom lead screw 48, and stops until it collides with the bottom limit block 52, serving as a limit and motor zero-seeking function.

[0057] (10) Power source docking: the tightening power source lifting cylinder 33 is external, connected with the tightening motor through a tightening power source lifting cylinder long connecting rod 34. The tightening power source lifting cylinder 33 drives the tightening power source lifting cylinder long connecting rod 34 to move the tightening motor vertically downward along the tightening power source lifting guide rail 35, and inserts into the power input interface of the tightening gear box 39, completing the power source docking.

[0058] (11) Tightening operation starts: the tightening sleeve 37 at the end of the tightening gear box 39 rotates, the tightening gear box 39 is driven by the tool lifting slide table 12 to move the tightening mandrel 29 upward, completing the cap recognition action. When the torque value detected by the micro torque sensor 38 integrated at the tightening sleeve 37 and the lifting height reach the process set value, it is considered that the cap recognition is successful. The tightening sleeve 37 continues to apply torque, and detects the lifting distance and rotation angle of the tightening sleeve 37. When they reach the specified process value, it is considered that the first tightening is completed.

[0059] (12) Tightening the next nut: the bottom support fingers 41 retract, the tightening sleeve 37 rotates a specific angle and then moves downward to a specified height, the indexing positioning system 3 moves to the diagonal position according to the diagonal tightening process route, and repeats the previous tightening operation action until all nuts are tightened.

[0060] (13) Operation ends: the numerical control system controls all motors and cylinders to zero again. After the numerical control system self-checking zero operation ends, the equipment is lifted away from the engine.

[0061] The application adopts the way of arranging the tightening power system at the position close to the tightening gear box 39, reduces the tightening transmission distance, reduces the error caused by transmission gap and stress deformation, and integrates the micro torque sensor 38 at the tightening sleeve 37 of the tightening gear box 39, so that the tightening torque output to the tightening sleeve 37 forms a closed loop, ensuring the nut tightening torque precision; at the same time, the micro angle sensor integrated at the rear end of the tightening motor is relied on to monitor the angle of the tightening motor in real time and then calculate the output angle of the tightening sleeve, so as to achieve the purpose of monitoring the tightening angle. The tightening mechanism of the application adopts the way of supporting and reversing, has the characteristics of high structural static stiffness and good motion stability, and ensures that the structure will not be deformed to affect the tightening precision when the large torque is tightened or loosened. The application adopts the human-computer interaction touch panel to operate the numerical control system, has the characteristics of high automation and high motion precision, avoids manual misoperation, and ensures the consistency of each nut tightening.

[0062] The above description is only the embodiment of the application, and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. An automatic nut tightening device for confined spaces, 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 (4), and a bottom support system (5). The tooling lifting system (1) is connected to the indexing and positioning system (3) at its lower end. The tooling horizontal feed system (2) is located above the tooling lifting system (1). The tightening central system (4) is connected to the tooling horizontal feed system (2). The bottom support system (5) is located below the tightening central system (4). The bottom support system (5) is used to support the engine rear axle bottom impeller shaft center plane of the tightening central system (4). The tooling lifting system (1) is used to complete the lifting and lowering movement of the tightening central system (4). The tooling horizontal feed system (2) is used to complete the horizontal feed of the tightening central system (4). The indexing and positioning system (3) is used to complete the 360° rotation indexing of the tightening central system (4). The tightening central system (4) is used to complete the closed-loop output of tightening power. The tightening central system (4) includes a flipping transmission mechanism, a lifting transmission mechanism, a tightening mandrel (29), a tightening power source lifting guide rail (35), a motor assembly (36), and a tightening gearbox (39). The upper end of the tightening mandrel (29) is connected to the tooling horizontal feed system (2), and the lower end of the tightening mandrel (29) is hinged to the tightening gearbox (39). The lower part of the tightening mandrel (29) is provided with a tightening power source lifting guide rail (35) in the vertical direction. The motor assembly (36) is slidably connected to the tightening power source lifting guide rail (35). The flipping transmission mechanism and the lifting transmission mechanism are located in the... On the tooling horizontal feed system (2), the flipping transmission mechanism is connected to the tightening gearbox (39), and the flipping transmission mechanism is used to drive the tightening gearbox (39) to flip in the vertical direction; the lifting transmission mechanism is connected to the motor assembly (36), and the lifting transmission mechanism is used to drive the motor assembly (36) to slide up and down along the tightening power source lifting guide rail (35), so as to realize the docking or disengagement of the drive motor assembly (36) and the input shaft of the tightening gearbox (39); the output shaft of the tightening gearbox (39) is arranged parallel to the input shaft, and a miniature torque sensor (38) and a tightening sleeve (37) are arranged sequentially on the output shaft. The tightening central system (4) and the bottom support system (5) are symmetrically provided with protective cylinder I (40) and protective cylinder II (45) on their outer sides, and the upper ends of protective cylinder I (40) and protective cylinder II (45) are connected to the bottom of the tooling lifting system (1). The bottom support system (5) includes a bottom support finger (41), a bottom housing, a bottom drive motor (44), a bottom hinge link (47), a bottom lead screw (48), a bottom nut (49), a bottom limiting block (52), and a bottom coupling (53). The bottom housing is connected between the protective cylinder I (40) and the protective cylinder II (45). The bottom lead screw (48) is rotatably installed inside the bottom housing and is threadedly connected to the bottom nut (49). Supporting link mechanisms are symmetrically provided on both sides of the bottom nut (49). The two sets of supporting link mechanisms are extended or retracted to both sides by the drive of the bottom nut (49). The bottom limiting block (52) is set on the inner bottom of the bottom housing and is used to limit the axial movement of the bottom nut (49).

2. The automatic nut tightening device for confined spaces according to claim 1, characterized in that, The tooling lifting system (1) includes a lifting system drive electric cylinder (7), an upper mounting plate (8) for the lifting slide, a lifting slide guide optical shaft (9), a tooling lifting slide (12) and a tooling lifting base (13). The upper mounting plate (8) for the lifting slide and the tooling lifting base (13) are arranged vertically and are fixedly connected by multiple lifting slide guide optical shafts (9). The tooling lifting slide (12) is slidably connected to multiple lifting slide guide optical shafts (9). The lifting system drive electric cylinder (7) is set on the tooling lifting slide (12) and its output end is connected to the upper mounting plate (8) for the lifting slide.

3. The automatic nut tightening device for confined spaces according to claim 2, characterized in that, The tooling horizontal feed system (2) includes a translation feed drive component (16), a translation slide (17), a translation drive gear (18), a translation drive rack (19), a translation slider (20), and a translation guide rail (21). The translation drive rack (19) and the translation guide rail (21) are arranged parallel to each other on the tooling lifting slide (12). The translation slide (17) is slidably engaged with the translation slider (20) and the translation guide rail (21). The translation feed drive component (16) is arranged on the translation slide (17), and its output end is connected to the translation drive gear (18). The translation drive gear (18) meshes with the translation drive rack (19).

4. The automatic nut tightening device for confined spaces according to claim 2, characterized in that, The indexing positioning system (3) includes a tooling turntable base (14), an indexing drive component (22), an indexing driven large gear (23), an indexing driven small gear (24), an indexing drive gear seat (25), an indexing drive backlash-free gear (26), and a bearing seat assembly (28). The tooling turntable base (14) is located below the tooling lifting base (13) and is rotatably connected to the tooling lifting base (13) via the bearing seat assembly (28). The indexing drive gear seat (25) and the bearing seat assembly (28) are coaxially mounted on the tooling turntable base (14). The indexing drive component (22) is mounted on the tooling lifting base (13) and its output end is connected to the indexing active backlash elimination gear (26). The indexing active backlash elimination gear (26) is rotatably mounted on the indexing active gear seat (25) mounted on the tooling lifting base (13), and the indexing active backlash elimination gear (26) meshes with the indexing driven large gear (23). The indexing drive component (22) drives the indexing active backlash elimination gear (26) to rotate, and at the same time, the indexing active backlash elimination gear (26) revolves around the indexing driven large gear (23), thereby driving the tooling lifting base (13) to rotate. The indexing driven pinion (24) is rotatably mounted on the bearing housing assembly (28) and meshes with the indexing driven large pinion (23).

5. The automatic nut tightening device for confined spaces according to claim 1, characterized in that, The flipping transmission mechanism includes a power transmission long connecting rod (30), a folding connecting rod (31), and a flipping drive electric cylinder (32). The flipping drive electric cylinder (32) is mounted on the tooling horizontal feed system (2). The upper end of the power transmission long connecting rod (30) is connected to the output end of the flipping drive electric cylinder (32). The lower end of the power transmission long connecting rod (30) is hinged to one end of the folding connecting rod (31). The other end of the folding connecting rod (31) is hinged to the outer shell of the tightening gearbox (39).

6. The automatic nut tightening device for confined spaces according to claim 1, characterized in that, The lifting and transmitting mechanism includes a tightening power source lifting cylinder (33) and a tightening power source lifting cylinder long connecting rod (34). The tightening power source lifting cylinder (33) is mounted on the tooling horizontal feed system (2), and its output end is connected to the upper end of the tightening power source lifting cylinder long connecting rod (34). The lower end of the tightening power source lifting cylinder long connecting rod (34) is connected to the motor assembly (36).

7. The automatic nut tightening device for confined spaces according to claim 1, characterized in that, The support linkage mechanism includes a bottom support finger (41) and a bottom hinge link (47). The upper end of the bottom hinge link (47) is hinged to the bottom outer shell, the lower end of the bottom hinge link (47) is hinged to the upper part of the bottom support finger (41), and the lower end of the bottom support finger (41) is hinged to the bottom screw nut (49). When the bottom screw nut (49) moves up and down along the bottom screw (48), it causes the bottom support finger (41) to unfold or retract.

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