Blind cavity screwing robot for an aeroengine compressor rotor and working method

Abstract

The present application relates to a blind cavity tightening robot for an aero-engine compressor rotor and a working method, and belongs to the technical field of aero-engine high-pressure compressor rotor assembly. The present application solves the problems of low assembly efficiency, insufficient versatility and flexibility of the compressor rotor in the prior art. The present application comprises: an equipment base for providing fixed support; a rotor positioning module for holding the compressor rotor to be tightened; a mechanical arm module with multiple degrees of freedom; a nut supply module for providing nuts to be assembled; a tightening arm module installed on the mechanical arm module for torque calibration, nut picking and tightening operations; a displacement sensor module and a high-precision camera module installed on the tightening arm module for obtaining distance and position information; and an automatic control module in communication with the displacement sensor module and the high-precision camera module to receive distance and position information from the displacement sensor module and the high-precision camera module and control the movement and operation of the mechanical arm module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aero-engine high-pressure compressor rotor assembly, in particular to a blind cavity tightening robot for aero-engine compressor rotor and a working method. BACKGROUND

[0002] The intermediate stage of the aero-engine high-pressure compressor rotor unit is often connected between the blade discs by using an in-turned installation edge flange stop bolt array. As an important component of an aero-engine, the quality of bolt connection directly affects the assembly performance of the entire engine.

[0003] The installation device for the aero-engine high-pressure compressor rotor in the prior art needs to be hoisted and fixed above the rotor by using a hoisting mechanism when in use. In the pulsating assembly production line of an aero-engine, the assembly of the engine generally includes horizontal installation and vertical installation. If the installation device is used in a vertical pulsating production line, the horizontal and vertical installation modes need to be switched back and forth, which affects the assembly efficiency. In addition, for the prior art, only the bolts of a single part of a single type of rotor can be installed, and the bolts of rotors of different specifications are no longer applicable. Therefore, the size of some or even most parts needs to be changed to adapt to the bolts of rotors of different specifications and sizes. Moreover, the existing installation device has a more complex structure and greater difficulty in assembly due to working in more extreme conditions and space, and cannot completely guarantee the assembly precision.

[0004] Therefore, the technical field needs an improved intelligent tightening device that can improve the flexibility on the pulsating production line of an aero-engine, can move horizontally and vertically, has excellent versatility and modularity, is convenient for integration and modification, is suitable for rotors of different specifications and sizes, has a simple structure, high stability, high precision, and accurate closed-loop control, can quickly position the blind cavity tightening, and improve the rhythm. SUMMARY

[0005] In order to solve the problems of poor versatility, flexibility and complex structure of the existing tightening equipment in the prior art, the present application provides a blind cavity tightening robot for aero-engine compressor rotor and a working method. The robot uses a mechanical arm to tighten the blind cavity bolts, improves the flexibility of the equipment in different types of rotor assembly conditions, and improves the visualization of the rotor assembly state, thereby improving the flexibility and modularity of the rotor assembly.

[0006] According to one embodiment of the present application, a blind cavity tightening robot for aero-engine compressor rotor is provided, which comprises:

[0007] a device base for providing fixed support;

[0008] A rotor positioning module is arranged on the equipment base and used for holding the compressor rotor to be tightened;

[0009] A mechanical arm module is arranged on the equipment base and has multiple degrees of freedom;

[0010] A nut supply module is arranged on the equipment base and used for supplying the nut to be assembled;

[0011] A tightening arm module is mounted on the mechanical arm module and used for torque calibration, nut picking and tightening operation;

[0012] A displacement sensor module and a high-precision camera module are mounted on the tightening arm module and used for obtaining distance and position information;

[0013] An automatic control module is arranged on the equipment base, communicates with the displacement sensor module and the high-precision camera module to receive distance and position information from the displacement sensor module and the high-precision camera module, and controls the movement and operation of the mechanical arm module.

[0014] Optionally, the tightening arm module comprises:

[0015] A fixed part connected to the end of the mechanical arm module;

[0016] A moving part connected to the fixed part and movable relative to the fixed part in the vertical direction;

[0017] An electric tightening gun mounted to the moving part and used for providing the torque for tightening the nut;

[0018] An end tightening arm used for picking up the nut and performing the tightening operation;

[0019] A connecting rod assembly, of which the upper end is fixed to the moving part and movable with the moving part in the vertical direction, and connected to the electric tightening gun, and the lower end is connected to the end tightening arm to drive the end tightening arm to move in the vertical direction and transmit the torque of the electric tightening gun to the end tightening arm.

[0020] Optionally, the tightening arm module further comprises:

[0021] A pneumatic cylinder and a linear guide arranged between the fixed part and the moving part, and the moving part is driven by the pneumatic cylinder to move along the linear guide relative to the fixed part in the vertical direction.

[0022] Optionally, the tightening arm module further comprises:

[0023] An end nut sleeve mounted at the end of the end tightening arm and used for picking up and mounting the nut;

[0024] A micro camera is installed on the end tightening arm to acquire images of the operation state of the end nut sleeve, and the acquired images are provided to the automatic control module.

[0025] Optionally, the connecting rod assembly comprises:

[0026] A hollow rod, the upper end of which is fixed to the moving part, and the lower end of which is fixed to the end tightening arm to drive the end tightening arm to move along with the moving part in the vertical direction; and

[0027] A tightening rod arranged in the hollow rod, the upper end of which is connected to the electric tightening gun, and the lower end of which is connected to the end tightening arm to transmit the torque of the electric tightening gun to the end tightening arm.

[0028] Optionally, the lower end of the tightening rod of the connecting rod assembly is provided with a spline; the end tightening arm is provided with a driving gear for driving the end nut sleeve, the driving gear is formed with a spline hole matched with the spline of the tightening rod.

[0029] Optionally, the tightening arm module further comprises a quick-change mechanism fixed to the fixed part and detachably connected to the end of the mechanical arm module, for detachably connecting the tightening arm module with the end of the mechanical arm module.

[0030] According to another embodiment of the present application, a working method based on a blind cavity tightening robot for an aero-engine compressor rotor is provided, comprising the following steps:

[0031] Step S1: the automatic control module controls and adjusts the initial posture of the mechanical arm module, so that the tightening arm module moves around the rotor positioning module, and the compressor rotor to be tightened is placed in and positioned by the rotor positioning module;

[0032] Step S2: the automatic control module controls the operation of the mechanical arm module to drive the tightening arm module to move near the nut mounting rack, and drives the end tightening arm so that the end nut sleeve thereon picks up the nut from the nut mounting rack;

[0033] Step S3: the automatic control module controls the mechanical arm module to adjust the posture, drives the tightening arm module to move above the compressor rotor fixed by the rotor positioning module, and drives the tightening arm module and the end tightening arm to enter the cavity of the compressor rotor, aligns the picked-up nut with the bolt to be tightened in the compressor rotor through the end nut sleeve, and initializes the tightening;

[0034] Step S4: it is judged whether all the bolts to be tightened in the compressor rotor have completed the initialization tightening with the nut, if yes, the next step is executed, otherwise, the step S2 is returned;

[0035] Step S5: The automatic control module controls the mechanical arm module to adjust the posture, drives the tightening arm module and the end tightening arm to re-enter the cavity of the compressor rotor, and drives the end nut sleeve to sequentially load all nuts and bolts with pre-tightening force, thereby completing the tightening operation on the compressor rotor.

[0036] Optionally, the step S2 specifically comprises the following steps:

[0037] Step S2.1: The automatic control module controls the mechanical arm module to adjust the posture, so that the torque calibrator on the nut mounting rack is exposed in the field of view of the high-precision camera. The high-precision camera locates the torque calibrator, and the displacement sensor module determines the current height of the end tightening arm. The high-precision camera and the displacement sensor feed back the position and height information to the automatic control module.

[0038] Step S2.2: The automatic control module controls the mechanical arm module to adjust the posture according to the feedback position and height information, so that the end nut sleeve of the end tightening arm approaches the measuring head of the torque calibrator. When the measuring head of the torque calibrator enters the field of view of the micro camera on the end tightening arm, the micro camera feeds back the position data of the measuring head of the torque calibrator to the automatic control module, and then controls the mechanical arm module to fine-tune, so that the sleeve center line of the end nut sleeve is aligned with and buckled to the center line of the measuring head of the torque calibrator, and the torque of the electric tightening gun is calibrated.

[0039] Step S2.3: The automatic control module controls the mechanical arm module to adjust the posture, so that the nut on the nut mounting rack is exposed in the field of view of the high-precision camera. The high-precision camera locates the nut, confirms the position information of the nut to be picked up, and feeds back to the automatic control module. Meanwhile, the displacement sensor module determines the current height of the end tightening arm. The high-precision camera and the displacement sensor feed back the position and height information to the automatic control module.

[0040] Step S2.4: The automatic control module controls the mechanical arm module to adjust the posture according to the newly received feedback position and height information, so that the end nut sleeve of the end tightening arm approaches the nut to be picked up on the nut mounting rack. When the nut enters the field of view of the micro camera, the micro camera feeds back the position data of the nut to the automatic control module, and then controls the mechanical arm module to fine-tune, so that the sleeve center line of the end nut sleeve is aligned with the center line of the nut and the nut is picked up.

[0041] Optionally, the step S3 specifically comprises the following steps:

[0042] Step S3.1: The automatic control module controls the mechanical arm module to adjust the posture, so that the compressor rotor to be assembled enters the field of view of the high-precision camera, the high-precision camera locates the center of the compressor rotor, and the displacement sensor module determines the current height of the end tightening arm, the high-precision camera and the displacement sensor feed the position and height data to the automatic control module, and the automatic control module calculates the relative position data of the end tightening arm and the inlet center of the compressor rotor;

[0043] Step S3.2: The automatic control module controls the mechanical arm module to adjust the posture according to the calculated relative position data, drives the end tightening arm to move to the horizontal center of the inlet center of the compressor rotor, and then makes the end tightening arm descend into the cavity of the compressor rotor, according to the height information of the end tightening arm provided by the displacement sensor module, and stops descending when the set working height is reached.

[0044] Step S3.3: The automatic control module controls the mechanical arm module to adjust the posture, so that the end tightening arm moves in the horizontal direction and approaches the bolt to be tightened in the cavity of the compressor rotor, and the miniature camera obtains the relative position of the center line of the end nut sleeve and the center line of the bolt and feeds it back to the automatic control module, and the automatic control module adjusts the mechanical arm accordingly to make the center line of the end nut sleeve coincide with the center of the bolt.

[0045] Step S3.4: The automatic control module controls the cylinder of the tightening arm module to drive the moving part to move downward relative to the fixed part along the linear guide rail, so that the nut clamped on the end nut sleeve of the end tightening arm is buckled with the bolt at the bottom.

[0046] Step S3.5: The automatic control module controls the electric tightening gun to output torque, which is transmitted to the end nut sleeve of the end tightening arm through the connecting rod assembly, to perform bolt tightening operation, so that the nut is rotated to the bolt for initial tightening, and the cylinder applies pressure to keep the end nut sleeve and the nut in the buckled state.

[0047] Step S3.6: The automatic control module controls the cylinder to drive the moving part to move upward relative to the fixed part along the linear guide rail, so that the end tightening arm moves upward, the end nut sleeve is separated from the nut, and the automatic control module controls the mechanical arm module to withdraw the end tightening arm from the cavity of the compressor rotor.

[0048] Compared with the prior art, the blind cavity tightening robot for the compressor rotor of an aero-engine and the working method provided by the application have at least the following beneficial effects:

[0049] 1) The visual recognition module of the device of the present application transmits the picture of the tightening sleeve to the external operation and monitoring panel in real time during the entire tightening process, monitors whether there is a missed tightening, wrong tightening or nut falling phenomenon, and controls the device to make corresponding operations. Correspondingly, the tightening information is fed back to the worker in real time, realizing the full-process visualization of blind cavity nut tightening, and overcoming the difficulty of inaccessible visual field in the high-pressure compressor cavity and relying on the tactile sensation of the hand to obtain the tightening state in the traditional manual tightening.

[0050] 2) The device of the present application is modularly designed. In different specifications, sizes or rotor connection positions, only different tightening arm mechanisms need to be replaced. After quick replacement by the quick replacement mechanism, a corresponding control program can be provided to obtain a dedicated blind cavity tightening device, without the need to redesign and manufacture the entire equipment, greatly reducing the design cost of the equipment, and having higher universality. In addition, the device of the present application can be used in different types of aero-engine pulsation assembly production lines and can be applied to various assembly processes such as horizontal and vertical.

[0051] 3) The device of the present application has a simple structure. Compared with the high cost caused by the processing design of a large number of non-standard parts of the tooling type automatic equipment, the use of robots will increase the number of standard parts of the equipment, greatly reducing the manufacturing cost and time cost of the equipment, and greatly reducing the assembly difficulty. At the same time, compared with a complex mechanical structure, the cumulative processing error through the size chain is small, and the equipment has high reliability.

[0052] 4) The device of the present application can perform multi-station operation or single-station multi-position tightening operation. The conventional tightening equipment can only perform single workpiece position tightening operation each time. At the same time, some assembly conditions are temperature difference assembly, which needs to be static for a period of time after tightening. At this time, the equipment will be occupied, reducing the assembly efficiency. The present application uses a mechanical arm to perform tightening operation. After the tightening operation of a workpiece is completed, the mechanical hand directly exits, and then performs the tightening operation of other workpieces. At the same time, the mechanical arm can even perform multi-stage disc tightening operation of a single rotor workpiece, realizing single-station multi-position tightening, and not needing to replace the tightening arm, greatly improving the assembly efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. The features and advantages of the present application can be more clearly understood by referring to the drawings. The drawings are schematic and should not be understood as limiting the present application. Those skilled in the art can obtain other drawings without creative labor on the basis of these drawings.

[0054] Figure 1is a schematic view of a blind cavity tightening robot for an aeroengine compressor rotor according to an embodiment of the present application.

[0055] Figure 2 is a schematic view of a tightening arm module of a blind cavity tightening robot for an aeroengine compressor rotor according to an embodiment of the present application.

[0056] Figure 3 is a bottom view of an end tightening arm of a blind cavity tightening robot for an aeroengine compressor rotor according to an embodiment of the present application.

[0057] Figure 4 is a schematic view of a nut feeding module of a blind cavity tightening robot for an aeroengine compressor rotor according to an embodiment of the present application.

[0058] Figure 5 is a partial sectional view of an end tightening arm of a blind cavity tightening robot for an aeroengine compressor rotor during its entry into a cavity of the compressor rotor in a working condition according to an embodiment of the present application.

[0059] Figure 6 is a state diagram of a blind cavity tightening robot for an aeroengine compressor rotor during torque calibration in a working condition according to an embodiment of the present application.

[0060] Figure 7 is Figure 6 a partial enlarged view of the portion in dotted line frame.

[0061] Figure 8 is a state diagram of a blind cavity tightening robot for an aeroengine compressor rotor during nut taking in a working condition according to an embodiment of the present application.

[0062] Figure 9 is Figure 8 a partial enlarged view of the portion in dotted line frame.

[0063] Figure 10 is a state diagram of a blind cavity tightening robot for an aeroengine compressor rotor during movement of an end tightening arm above the compressor rotor in a working condition according to an embodiment of the present application.

[0064] Figure 11 is a partial sectional view of an end tightening arm of a blind cavity tightening robot for an aeroengine compressor rotor during tightening of a nut in a working condition according to an embodiment of the present application.

[0065] Figure 12 is Figure 11 a partial enlarged view of the portion in dotted line frame.

[0066] 100-device base; 200-rotor positioning module; 300-tightening arm module; 301-end tightening arm; 311-end nut sleeve; 302-moving part; 303-electric tightening gun; 304-linear guide rail; 305-fast exchange mechanism; 306-fixed part; 307-air cylinder; 308-micro camera; 309-connecting rod assembly; 400-automatic control module; 500-mechanical arm module; 600-nut supply module; 601-nut mounting rack; 602-torque calibrator; 700-displacement sensor module; 800-high-precision camera module; 900-compressor rotor; 10-nut; 20-bolt. DETAILED DESCRIPTION

[0067] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present application, the present application will be further described below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0068] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0069] The blind cavity tightening robot for an aero-engine compressor rotor and the working method provided by the embodiments according to the present application are described in detail below with reference to the drawings.

[0070] The present application is further described below with reference to the drawings and embodiments, and it should be understood that the following described embodiments are intended to facilitate the understanding of the present application and do not limit the present application in any way.

[0071] In the present application, the rotor disc to be connected is taken as an example of the 3rd-stage rotor disc to be connected of the compressor, and the blind cavity tightening robot for an aero-engine compressor rotor provided by the present application is installed on the rear flange disc of the 9th-stage rotor disc.

[0072] As Figure 1As shown, the blind cavity tightening robot for an aero-engine compressor rotor provided according to one embodiment of the application comprises a device base 100, a rotor positioning module 200, a tightening arm module 300, an automatic control module 400, a mechanical arm module 500, a nut supply module 600, a displacement sensor module 700, a high-precision camera module 800, wherein the rotor positioning module 200, the automatic control module 400, the mechanical arm module 500 and the nut supply module 600 are fixedly installed on the device base 100; the tightening arm module 300 is installed on the mechanical arm module 500; the displacement sensor module 700 and the high-precision camera module 800 are installed on the tightening arm module 300 through connecting pieces. When the displacement sensor module 700 is installed, it should be ensured that the parts on the tightening arm module 300 or other mechanical arms do not block the infrared rays emitted by the displacement sensor module 700, so that the displacement sensor module 700 can perform distance detection; when the high-precision camera module 800 is installed, it needs to be ensured that the circular profile of the compressor rotor can be detected within the field of view, so as to calculate the horizontal coordinate position of the rotor center. The layout of the modules ensures that they will not interfere with each other, and the relative positions of the rotor positioning module 200, the mechanical arm module 500 and the nut supply module 600 can enable the mechanical arm module 500 to have sufficient space movement, and at the same time enable the tightening arm module 300 to perform torque calibration, nut picking and tightening operation within the specified space. The automatic control module 400 can receive data information from the high-precision camera module 800 and the displacement sensor module 700, and control the mechanical arm module 500 to move and adjust the posture and operation according to the data information. According to the needs, the mechanical arm module 500 can use a (multi-) degree of freedom mechanical arm, such as a three-degree of freedom mechanical arm, a four-degree of freedom mechanical arm, a five-degree of freedom mechanical arm, etc.

[0073] Reference Figure 1 The device base 100 can be welded from hollow pipes, with a steel plate fixed on the top and a foot cup installed on the bottom for support.

[0074] Reference Figure 2 and Figure 3The tightening arm module 300 of the blind cavity tightening robot for the aero-engine compressor rotor provided in the embodiment is described in detail. The tightening arm module 300 of the embodiment comprises an end tightening arm 301, a movement part 302, an electric tightening gun 303, a linear guide rail 304, a quick-change mechanism 305, a fixed part 306, an air cylinder 307, a connecting rod assembly 309 and a miniature camera 308. The operation of the electric tightening gun 303 and the air cylinder 307 can be controlled by the automatic control module 400. The quick-change mechanism 305 is fixed on the fixed part 306, and the tightening arm module 300 is connected to the end of the mechanical arm module 500 through the quick-change mechanism 305. The clutch of the quick-change mechanism 305 can be controlled by the automatic control module 400 to realize the connection and disconnection of the tightening arm module 300 and the mechanical arm module 500, so that tightening arm modules 300 of different sizes and specifications can be replaced in this way to adapt to the bolt tightening tasks of compressor rotors 900 of different sizes and specifications, and the general purpose of the blind cavity tightening robot is improved. The movement part 302 is movably connected to the fixed part 306 through the linear guide rail 304 and the air cylinder 307; the end tightening arm 301 is fixed to the movement part 302 through the connecting rod assembly 309 and is operatively connected to the electric tightening gun 303; and the miniature camera 308 is installed on the end tightening arm 301.

[0075] The fixed part 306 comprises a horizontal plate and a vertical plate arranged below the middle part of the horizontal plate. The quick-change mechanism 305 is installed above the horizontal plate of the fixed part 306, and the air cylinder 307 is installed below the horizontal plate. The horizontal plate above and the vertical plate below can be reinforced by the rib plate.

[0076] The moving part 302 can include horizontal and vertical plates, and the horizontal and vertical plates are connected to form a right-angle structure, and the two sides can be reinforced by using a rib plate. The moving part 302 and the fixed part 306 can be movably connected through the air cylinder 307 and the linear guide rail 304, wherein the cylinder barrel and the piston rod of the air cylinder 307 are fixedly connected with the fixed part 306 and the moving part 302 respectively, so as to push the relative movement between them. Specifically, the cylinder barrel of the air cylinder is connected with the lower part of the horizontal plate of the fixed part 306, the piston rod of the air cylinder 307 is connected with the air cylinder joint at the bottom, and then the air cylinder joint is connected with the horizontal plate of the moving part 302. The linear guide rail 304 includes a rail and a slider arranged in the rail, and the rail and the slider are fixed with the fixed part 306 and the moving part 302 respectively. Specifically, the rail of the linear guide rail 304 is fixedly installed in the vertical direction on one side of the vertical plate of the fixed part 306, and the slider is fixed with the vertical plate of the moving part 302. Thus, through the linear guide rail 304, the movement of the moving part 302 is ensured to be in the vertical straight line. When the air cylinder 307 operates, it drives the moving part 302 to move up and down relative to the fixed part 306, and the slider moving in the rail of the linear guide rail 304 ensures that the moving direction of the moving part 302 is the vertical straight line direction, and the moving stroke is within the stroke range of the air cylinder 307. For example, the stroke of the air cylinder 307 can be set to 15-20 mm as needed, so that the moving stroke of the moving part 302 in the vertical direction is 15-20 mm.

[0077] The electric tightening gun 303 and the connecting rod assembly 309 can be assembled together through the moving part 302. Specifically, a tightening gun mounting seat is arranged through the vertical plate of the moving part 302, so that the electric tightening gun 303 is fixed to the vertical plate through the tightening gun mounting seat.

[0078] The connecting rod assembly 309 includes a hollow rod and a tightening rod arranged in the hollow rod. The upper end of the hollow rod is fixed to the moving part 302, and the lower end is fixed to the end tightening arm 301, so as to drive the end tightening arm 301 to move in the vertical direction with the moving part 302; the upper end of the tightening rod is connected to the electric tightening gun 303, and the lower end is connected to the end tightening arm 301, so as to transmit the torque of the electric tightening gun 303 to the end tightening arm 301. Specifically, a through hole is formed in the horizontal plate of the moving part 302, and a tightening rod fixing seat is arranged, which can fix the hollow rod by screw fastening. The tightening rod passes through the hollow rod upward from the through hole of the horizontal plate, and is connected with the electric tightening gun 303 through the tightening gun sleeve, so as to receive the torque from the electric tightening gun 303.

[0079] Reference Figure 3 , Figure 9 and Figure 12The end tightening arm 301 is fixed to the lower end of the hollow rod and connected to the lower end of the tightening rod. The end tightening arm 301 is provided with an end nut sleeve 311 for picking up and installing nuts and a miniature camera 308. Specifically, the end nut sleeve 311 is installed at the bottom of the end tightening arm 301, facilitating the picking up and installing operation without interference. The miniature camera 308 is installed at the bottom of the end tightening arm 301 and is arranged such that the line of sight of the miniature camera 308 coincides with the center line of the end nut sleeve 311, for accurately acquiring images of the operating state of the end nut sleeve 311. In this embodiment, the lower end of the tightening rod inside the hollow rod is provided with a spline. The end tightening arm 301 is formed with a through hole for mounting the hollow rod and is provided with a drive gear for driving the end nut sleeve 311, which is formed with a spline hole matching the spline of the tightening rod. The lower part of the hollow rod of the connecting rod assembly 309 is inserted and fixed into the through hole of the end tightening arm 301, and the spline of the lower end of the tightening rod matches the spline hole of the drive gear of the end tightening arm 301. Thus, the end tightening arm 301 is operatively connected to the electric tightening gun 303 through the tightening rod, and the torque output by the electric tightening gun 303 is transmitted to the end tightening arm 301. Specifically, the electric tightening gun 303 outputs torque to drive the tightening rod connected thereto, which is transmitted to the drive gear matching the spline at the lower end of the tightening rod through the spline, and the drive gear in turn drives the end nut sleeve 311 to rotate, performing the nut picking up or tightening operation.

[0080] The automatic control module 400 can also receive data and image information from the miniature camera 308 provided on the end tightening arm 301, and control the movement of the mechanical arm module 500 and the tightening arm module 300 according to the information, thereby adjusting the position of the end tightening arm 301.

[0081] In another embodiment, the blind cavity tightening robot for the compressor rotor of an aero-engine can also include an outer frame accommodating the entire device, for separating the blind cavity tightening robot from the external environment.

[0082] Reference Figure 4 The nut supply module 600 provided in this embodiment includes a nut mounting rack 601 and a torque calibrator 602 arranged on the nut mounting rack 601. In this embodiment, the nut mounting rack 601 can be spliced from aluminum alloy profiles, with moderate height, and can include multiple layers of nut racks, each layer of nut rack being provided with multiple nut placement positions, with moderate distance between the nut placement positions, so as to have sufficient space to pick up nuts without interference when the end tightening arm 301 approaches the nuts placed on the nut mounting rack 601.

[0083] The following references Figures 5 to 12The working method of the blind cavity tightening robot for the aero-engine compressor rotor provided by the above embodiment includes performing the process of tightening the compressor rotor, and is described in detail. The working method specifically includes the following steps.

[0084] Step S1: The automatic control module 400 controls and adjusts the initial posture of the mechanical arm module 500, so that the tightening arm module 300 moves around the rotor positioning module 200, and the compressor rotor 900 to be tightened is placed in the rotor positioning module 200 and held in position by the rotor positioning module 200. At this time, the air cylinder 307 is in a retracted state. In this step, the compressor rotor 900 can be installed and fixed on the rotor positioning module 200 using a tool, and the compressor rotor 900 is positioned circumferentially by a pin shaft.

[0085] Step S2: The automatic control module 400 controls the operation of the mechanical arm module 500 to drive the tightening arm module 300 to move near the nut mounting rack 601, and drives the end tightening arm 301 so that the end nut sleeve 311 thereon picks up the nut from the nut mounting rack 601. Referring to Figures 6 to 9 , the step S2 specifically includes the following steps.

[0086] Step S2.1: The automatic control module 400 controls the mechanical arm module 500 to adjust the posture so that the torque calibrator 602 on the nut mounting rack 601 is exposed in the field of view of the high-precision camera module 800, the high-precision camera module 800 locates the torque calibrator 602, and the displacement sensor module 700 determines the current height of the end tightening arm 301, and the high-precision camera module 800 and the displacement sensor module 700 feed back the position and height information to the automatic control module 400.

[0087] Step S2.2: Referring to Figure 6 and Figure 7 , the automatic control module 400 controls the mechanical arm module 500 to adjust the posture according to the feedback position and height information, so that the end nut sleeve 311 of the end tightening arm 301 approaches the probe of the torque calibrator 602, and when the probe of the torque calibrator 602 enters the field of view of the micro camera 308 on the end tightening arm 301, the micro camera 308 feeds back the position data of the probe of the torque calibrator 602 to the automatic control module 400, and then controls the mechanical arm module 500 to fine-tune, so that the sleeve center line of the end nut sleeve 311 is aligned with and engaged with the probe center line of the torque calibrator 602, and the torque of the electric tightening gun 303 is calibrated.

[0088] Step S2.3: Referring to Figure 8, the automatic control module 400 controls the mechanical arm module 500 to adjust the posture, so that the nuts on the nut mounting rack 601 are exposed in the field of view of the high-precision camera module 800, the high-precision camera module 800 locates the nuts, confirms the position information of the nuts to be picked up, and feeds back to the automatic control module 400, and at the same time, the displacement sensor module 700 determines the current horizontal height of the end tightening arm 301, and the high-precision camera module 800 and the displacement sensor module 700 feed back the position and height information to the automatic control module 400. In this step, the automatic control module 400 can also calculate the relative position information of other nuts through the position information of the nut to be picked up obtained from the high-precision camera module 800, so as to provide a position reference for subsequent nut picking.

[0089] Step S2.4: referring to Figure 8 and Figure 9 , the automatic control module 400 controls the mechanical arm module 500 to adjust the posture according to the newly received feedback position and height information, so that the end nut sleeve 311 on the end tightening arm 301 approaches the nut 10 to be picked up on the nut mounting rack 601, when the nut 10 enters the field of view of the micro camera 308, the micro camera 308 feeds back the position data of the nut 10 to the automatic control module 400, and then controls the mechanical arm module 500 to fine-tune, so that the sleeve center line of the end nut sleeve 311 is aligned with the center line of the nut 10 and the nut 10 is picked up.

[0090] Step S3: the automatic control module 400 controls the mechanical arm module 500 to adjust the posture, drives the tightening arm module 300 to move to above the compressor rotor 900 fixed by the rotor positioning module 200, and drives the tightening arm module 300 and the end tightening arm 301 to enter the cavity of the compressor rotor 900, aligns the picked nut with the bolt to be tightened in the compressor rotor 900 through the end nut sleeve 311, and performs initial tightening. Referring to Figures 10 to 12 , this step S3 specifically includes the following steps.

[0091] Step S3.1: referring to Figure 10 , the automatic control module 400 controls the mechanical arm module 500 to adjust the posture, so that the compressor rotor 900 to be assembled enters the field of view of the high-precision camera module 800, the high-precision camera module 800 locates the center of the compressor rotor 900, and at the same time, the displacement sensor module 700 determines the current horizontal height of the end tightening arm 301, and the high-precision camera module 800 and the displacement sensor module 700 feed back the position and height data to the automatic control module 400, and the automatic control module 400 calculates the relative position data of the end tightening arm 301 and the center inlet of the compressor rotor 900. In this step, it should be ensured that the lowest point of the end tightening arm 301 is above the center inlet of the compressor rotor 900.

[0092] Step S3.2: Refer to Figure 11 , according to the calculated relative position data, the automatic control module 400 controls the mechanical arm module 500 to adjust the posture, drives the end tightening arm 301 to move to the position where the horizontal center of the end tightening arm 301 coincides with the center of the inlet of the compressor rotor 900, and then drives the end tightening arm 301 to descend into the cavity of the compressor rotor 900. According to the height information of the end tightening arm 301 provided by the displacement sensor module 700 in real time, the descending is stopped when the specified working height is reached.

[0093] Step S3.3: The automatic control module 400 controls the mechanical arm module 500 to adjust the posture, drives the end tightening arm 301 to move horizontally, and moves close to the bolt 20 to be tightened in the cavity of the compressor rotor 900. At the same time, the micro camera 308 feeds back the relative position between the center line of the end nut sleeve 311 and the center line of the bolt 20 to the automatic control module 400, and the automatic control module 400 fine-tunes the mechanical arm 500 to make the center line of the end nut sleeve 311 coincide with the center of the bolt 20.

[0094] Step S3.4: Refer to Figure 12 , the automatic control module 400 controls the cylinder 307 of the tightening arm module 300 to drive the moving part 302 to move downward along the linear guide rail 304 relative to the fixed part 306, so that the nut 10 clamped on the end nut sleeve 311 of the end tightening arm 301 is buckled with the bolt 20 at the bottom.

[0095] Step S3.5: Refer to Figure 12 , the automatic control module 400 controls the electric tightening gun 303 to output torque, which is transmitted to the end nut sleeve 311 of the end tightening arm 301 through the connecting rod assembly 309 as a torque transmission structure, and then performs bolt tightening operation to make the nut 10 rotate to the bolt 20. At the same time, since the nut 10 will rotate and move slowly away from the end nut sleeve 311 along the thread line during bolt tightening, the cylinder 307 will continuously apply appropriate pressure to keep the end nut sleeve 311 in buckling state with the nut 10 until the tightening is completed. This step is the first tightening, which is the initialization tightening, only a small torque needs to be applied, and the automatic control module 400 records the absolute coordinate data of the current bolt 20.

[0096] Step S3.6: After the initialization tightening is completed, the automatic control module 400 controls the cylinder 307 to operate to pull up the moving part 302 along the linear guide rail 304 relative to the fixed part 306, drives the end tightening arm 301 to move upward, and makes the end nut sleeve 311 separate from the nut. The automatic control module 400 controls the mechanical arm module 500 to withdraw the end tightening arm 301 from the cavity of the compressor rotor 900 to the outside. The state of this position can be referred to Figure 10 .

[0097] Step S4: Determine whether all the bolts to be tightened in the compressor rotor have been initialized and tightened with the nuts, if so, proceed to the next step, otherwise return to step S2.

[0098] Step S5: The automatic control module 400 controls the mechanical arm module 500 to adjust the posture, the end tightening arm 301 reenters the cavity of the compressor rotor 900, and the end nut sleeve 311 is driven to sequentially load the nuts and bolts with pre-tightening force, completing the tightening operation of the compressor rotor 900. This step S5 specifically includes the following steps.

[0099] Step S5.1: According to the absolute coordinate data of each bolt obtained by each initialization and tightening in step S9, the automatic control module 400 controls the mechanical arm module 500 to adjust the posture, re-moves the end tightening arm 301 into the cavity of the compressor rotor 900, and sequentially buckles the end nut sleeve 311 of the end tightening arm 301 with the nuts according to the set order. The final torque is output by the electric tightening gun 303, and the torque is transmitted to the nuts through the end tightening arm 301 via the connecting rod assembly 309 as a torque transmission mechanism, completing the pre-tightening force loading of all nuts.

[0100] Step S5.2: The automatic control module 400 controls the mechanical arm module 500 to adjust the posture, so that the end tightening arm 301 exits from the cavity of the compressor rotor 900 to the outside, and the compressor rotor 900 is removed by the tool, completing the tightening operation of the compressor rotor 900.

[0101] In another embodiment, the outputs of the high-precision camera module 800 and the micro camera 308 can be connected to an external operation and monitoring panel, so that during the operation, the picture of the tightening sleeve is transmitted to the external operation and monitoring panel in real time, facilitating manual or automatic monitoring of whether there is a missed tightening, a wrong tightening, a nut falling, etc. and controlling the device to make corresponding operations. In addition, real-time feedback of tightening information to the operator can be realized, realizing the full visualization of blind cavity nut tightening.

[0102] In another embodiment, after step S1, a device self-checking step can also be performed.

[0103] In another embodiment, two or even multiple station rotor positioning modules 200 can be provided as needed to install multiple compressor rotors 900 workpieces. After completing the tightening work of the first rotor, the automatic control module 400 can control the A1 axis of the mechanical arm to rotate by a certain angle, and the end of the mechanical arm is turned to the second station to perform the tightening work of the second compressor rotor 900. For more station rotors, the tightening operation is carried out in the same way. Multiple station operations are realized, and the engine assembly efficiency is improved.

[0104] In another embodiment, the same compressor rotor 900 can have multiple layers of bolt groups to be tightened. After the mechanical arm completes the tightening of the first layer of bolts, the automatic control module 400 can re-adjust the posture of the mechanical arm module 500 and the position of the tightening arm module 300, so that the end tightening arm 301 is adjusted to the height of the second layer of bolt groups to perform the tightening work of the second layer of bolt groups. For more layers of bolt tightening operations, the same can be applied to achieve single-station multi-position operation.

[0105] All the optional technical solutions described above can be combined to form optional embodiments of the present application, which will not be repeated here.

[0106] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution. The execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. Blind cavity screwing robot for an aeroengine compressor rotor, characterized in that, The device comprises: a device base (100) for providing fixed support; a rotor positioning module (200) arranged on the device base (100) for holding a compressor rotor (900) to be tightened; a mechanical arm module (500) arranged on the device base (100) and having multiple degrees of freedom; a nut supply module (600) arranged on the device base (100) for providing nuts (10) to be assembled; a tightening arm module (300) mounted on the mechanical arm module (500) for torque calibration, nut picking and tightening operations; a displacement sensor module (700) and a high-precision camera module (800) mounted on the tightening arm module (300) for obtaining distance and position information; an automatic control module (400) arranged on the device base (100) and in communication with the displacement sensor module (700) and the high-precision camera module (800) to receive distance and position information from the displacement sensor module (700) and the high-precision camera module (800) and control the movement and operation of the mechanical arm module (500); wherein the automatic control module (400) performs the following operations: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture so that the torque calibrator (602) on the nut mounting rack (601) is exposed in the field of view of the high-precision camera module (800), the high-precision camera module (800) locates the torque calibrator (602), and at the same time the displacement sensor module (700) determines the current horizontal height of the end tightening arm (301), and the high-precision camera module (800) and the displacement sensor module (700) feed back the position and height information to the automatic control module (400); The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the feedback position and height information, so that the end nut sleeve (311) of the end tightening arm (301) approaches the probe of the torque calibrator (602), when the probe of the torque calibrator (602) enters the field of view of the micro camera (308) on the end tightening arm (301), the micro camera (308) feeds back the position data of the probe of the torque calibrator (602) to the automatic control module (400), and then controls the mechanical arm module (500) to fine-tune, so that the sleeve center line of the end nut sleeve (311) is aligned with the probe center line of the torque calibrator (602) and is buckled, and torque calibration of the electric tightening gun (303) is performed; The automatic control module (400) controls the mechanical arm module (500) to adjust the posture so that the nut on the nut mounting rack (601) is exposed in the field of view of the high-precision camera module (800), the high-precision camera module (800) locates the nut (10), confirms the position information of the nut (10) to be picked, and feeds back to the automatic control module (400), and at the same time the displacement sensor module (700) determines the current horizontal height of the end tightening arm (301), and the high-precision camera module (800) and the displacement sensor module (700) feed back the position and height information to the automatic control module (400); The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the newly received position and height information of the feedback, so that the end nut sleeve (311) on the end tightening arm (301) approaches the nut (10) to be picked up on the nut mounting rack (601), when the nut (10) enters the field of view of the miniature camera (308), the miniature camera (308) feeds back the position data of the nut (10) to the automatic control module (400), and then controls the mechanical arm module (500) to fine tune, so that the center line of the sleeve of the end nut sleeve (311) is aligned with the center line of the nut (10) and the nut (10) is picked up. The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the compressor rotor (900) to be assembled enters the field of view of the high-precision camera module (800), the high-precision camera module (800) positions the center of the compressor rotor (900), and the displacement sensor module (700) determines the current horizontal height of the end tightening arm (301). The high-precision camera module (800) and the displacement sensor module (700) feed back the position and height data to the automatic control module (400), and the automatic control module (400) calculates the relative position data of the end tightening arm (301) and the center inlet of the compressor rotor (900). The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the calculated relative position data, drives the end tightening arm (301) to move so that the horizontal center thereof coincides with the inlet center of the compressor rotor (900), and then makes the end tightening arm (301) descend into the cavity of the compressor rotor (900), according to the height information of the end tightening arm (301) provided by the displacement sensor module (700) in real time, and stops descending when the set working height is reached. The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the end tightening arm (301) moves in the horizontal direction and approaches the bolt (20) to be tightened in the cavity of the compressor rotor (900), and the miniature camera (308) obtains the relative position of the center line of the end nut sleeve (311) and the center line of the bolt (20) and feeds back to the automatic control module (400), and the automatic control module (400) adjusts the mechanical arm module (500) according to the relative position of the center line of the end nut sleeve (311) and the center line of the bolt (20) to make the center line of the end nut sleeve (311) coincide with the center of the bolt (20).

2. The blind cavity screwing robot for an aircraft engine compressor rotor according to claim 1, characterized in that, The tightening arm module (300) comprises: A fixed part (306) connected to the end of the mechanical arm module (500); A moving part (302) connected to the fixed part (306) and movable relative to the fixed part (306) in the vertical direction; An electric tightening gun (303) mounted to the moving part (302) for providing torque for tightening the nut (10); An end tightening arm (301) for picking up the nut (10) and performing the tightening operation; A connecting rod assembly (309) has its upper end fixed to the moving part (302) and can move with the moving part (302) in the vertical direction, and is connected to the electric tightening gun (303), and its lower end is connected to the end tightening arm (301) to drive the end tightening arm (301) to move in the vertical direction and transmit the torque of the electric tightening gun (303) to the end tightening arm (301).

3. The blind cavity tightening robot for an aircraft engine compressor rotor of claim 2, wherein, The tightening arm module (300) further comprises: A gas cylinder (307) and a linear guide rail (304) are arranged between the fixed part (306) and the moving part (302), and the moving part (302) is driven to move along the linear guide rail (304) in the vertical direction relative to the fixed part (306) by the driving of the gas cylinder (307).

4. The blind cavity screwing robot for an aircraft engine compressor rotor according to claim 2, characterized in that, The tightening arm module (300) further comprises: A terminal nut sleeve (311) is mounted on the end tightening arm (301) for picking up and mounting the nut (10); A micro camera (308) is mounted on the end tightening arm (301) for image acquisition of the operating state of the terminal nut sleeve (311) and providing the acquired image to the automatic control module (400).

5. The blind hole screwing robot for an aircraft engine compressor rotor according to claim 2, characterized in that, The connecting rod assembly (309) comprises: A hollow rod has its upper end fixed to the moving part (302) and its lower end fixed to the end tightening arm (301) to drive the end tightening arm (301) to move with the moving part (302) in the vertical direction; A tightening rod is arranged in the hollow rod, has its upper end connected to the electric tightening gun (303) and its lower end connected to the end tightening arm (301) to transmit the torque of the electric tightening gun (303) to the end tightening arm (301).

6. The blind cavity tightening robot for an aero-engine compressor rotor according to claim 5, wherein: The lower end of the tightening rod of the connecting rod assembly (309) is provided with splines; The end tightening arm (301) is provided with a drive gear for driving the terminal nut sleeve (311), and the drive gear is formed with spline holes matched with the splines of the tightening rod.

7. The blind hole screwing robot for an aircraft engine compressor rotor according to claim 2, characterized in that, The tightening arm module (300) further comprises: A quick-change mechanism is fixed to the fixed part (306) and detachably connected to the end of the mechanical arm module (500) for detachable connection of the tightening arm module (300) with the end of the mechanical arm module (500).

8. The working method for a blind cavity screwing robot of aeroengine compressor rotor based on any one of the preceding claims 1-7, characterized in that, The method comprises the following steps: Step S1: The automatic control module (400) controls and adjusts the initial posture of the mechanical arm module (500) so that the tightening arm module (300) moves around the rotor positioning module (200), and the compressor rotor (900) to be tightened is placed in the rotor positioning module (200) and held in position by the rotor positioning module (200); Step S2: The automatic control module (400) controls the operation of the mechanical arm module (500) to drive the tightening arm module (300) to move near the nut mounting rack (601), and drive the end tightening arm (301) so that the terminal nut sleeve (311) thereon picks up the nut (10) from the nut mounting rack (601); Step S3: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, drives the tightening arm module (300) to move above the compressor rotor (900) fixed by the rotor positioning module (200), and drives the tightening arm module (300) to make the end tightening arm (301) enter the cavity of the compressor rotor (900), aligns the picked nut (10) with the bolt (20) to be tightened in the compressor rotor (900) through the end nut sleeve (311) and performs initial tightening; Step S4: It is judged whether all the bolts (20) to be tightened in the compressor rotor (900) have been completed with the nut (10) initial tightening, if yes, the next step is executed, otherwise, it returns to step S2; Step S5: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, drives the tightening arm module (300) and the end tightening arm (301) to re-enter the cavity of the compressor rotor (900), and drives the end nut sleeve (311) to load all the nuts (10) and bolts (20) with pretightening force, completing the tightening operation of the compressor rotor (900).

9. The method of working according to claim 8, characterized in that, The step S2 specifically includes the following steps: Step S2.1: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the torque calibrator (602) on the nut mounting rack (601) is exposed in the field of view of the high-precision camera module (800), the high-precision camera module (800) positions the torque calibrator (602), and the displacement sensor module (700) determines the current height of the end tightening arm (301), and the high-precision camera module (800) and the displacement sensor module (700) feed back the position and height information to the automatic control module (400); Step S2.2: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the feedback position and height information, so that the end nut sleeve (311) of the end tightening arm (301) approaches the probe of the torque calibrator (602), when the probe of the torque calibrator (602) enters the field of view of the micro camera (308) on the end tightening arm (301), the micro camera (308) feeds back the position data of the probe of the torque calibrator (602) to the automatic control module (400), and then controls the mechanical arm module (500) to fine-tune, so that the sleeve center line of the end nut sleeve (311) is aligned with the probe center line of the torque calibrator (602) and is buckled, and the torque of the electric tightening gun (303) is calibrated. Step S2.3: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the nuts on the nut mounting rack (601) are exposed in the field of view of the high-precision camera module (800), the high-precision camera module (800) locates the nuts (10), confirms the position information of the nuts (10) to be picked up, and feeds back to the automatic control module (400), while the displacement sensor module (700) determines the current horizontal height of the end tightening arm (301), and the high-precision camera module (800) and the displacement sensor module (700) feed back the position and height information to the automatic control module (400); Step S2.4: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the newly received feedback position and height information, so that the end nut sleeve (311) on the end tightening arm (301) approaches the nuts (10) to be picked up on the nut mounting rack (601), when the nuts (10) enter the field of view of the miniature camera (308), the miniature camera (308) feeds back the position data of the nuts (10) to the automatic control module (400), and then controls the mechanical arm module (500) to fine-tune, so that the sleeve center line of the end nut sleeve (311) is aligned with the center line of the nuts (10) and the nuts (10) are picked up.

10. The method of claim 8, wherein, The step S3 specifically comprises the following steps: Step S3.1: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the compressor rotor (900) to be assembled enters the field of view of the high-precision camera module (800), the high-precision camera module (800) locates the center of the compressor rotor (900), while the displacement sensor module (700) determines the current horizontal height of the end tightening arm (301), the high-precision camera module (800) and the displacement sensor module (700) feed back the position and height data to the automatic control module (400), and the automatic control module (400) calculates the relative position data of the end tightening arm (301) and the center inlet of the compressor rotor (900); Step S3.2: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture according to the calculated relative position data, drives the end tightening arm (301) to move to the horizontal center of the compressor rotor (900) inlet center, and then makes the end tightening arm (301) descend into the cavity of the compressor rotor (900), according to the height information of the end tightening arm (301) provided by the displacement sensor module (700) in real time, and stops descending when the set working height is reached; Step S3.3: The automatic control module (400) controls the mechanical arm module (500) to adjust the posture, so that the end tightening arm (301) moves in the horizontal direction to approach the bolt (20) to be tightened in the cavity of the compressor rotor (900), while the micro camera (308) acquires the relative position of the center line of the end nut sleeve (311) and the center line of the bolt (20) and feeds back to the automatic control module (400), and the automatic control module (400) adjusts the mechanical arm module (500) accordingly to make the center line of the end nut sleeve (311) coincide with the center of the bolt (20); Step S3.4: The automatic control module (400) controls the cylinder (307) of the tightening arm module (300) to operate, drives the moving part (302) to move downward along the linear guide rail (304) relative to the fixed part (306), so that the end nut sleeve (311) of the end tightening arm (301) clamps the nut (10) on the bottom of the bolt (20); Step S3.5: The automatic control module (400) controls the electric tightening gun (303) to output torque, which is transmitted to the end nut sleeve (311) of the end tightening arm (301) through the connecting rod assembly (309), and the bolt tightening operation is performed, so that the nut (10) is rotated to the bolt (20) for initial tightening, while the cylinder (307) applies pressure to keep the end nut sleeve (311) and the nut (10) in the state of buckling; Step S3.6: The automatic control module (400) controls the cylinder (307) to operate to pull up the moving part (302) to move upward along the linear guide rail (304) relative to the fixed part (306), which drives the end tightening arm (301) to move upward, so that the end nut sleeve (311) is separated from the nut, and the automatic control module (400) controls the mechanical arm module (500) to withdraw the end tightening arm (301) from the cavity of the compressor rotor (900).

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