An aircraft engine nut tightening machine arm device

Abstract

An aero-engine nut tightening machine arm device belongs to the technical field of automatic assembly of aero-engines, and comprises a rotary indexing assembly, a vertical lifting assembly, a central tightening assembly, a wrench overturning posture adjusting assembly and an auxiliary stability increasing assembly; the rotary indexing assembly is connected with an aero-engine blade disc rotor through an external tool; the vertical lifting assembly is arranged above the rotary indexing assembly; the central tightening assembly is arranged in the middle of the vertical lifting assembly; the wrench overturning posture adjusting assembly is arranged between the vertical lifting assembly and the central tightening assembly; and the auxiliary stability increasing assembly is arranged at the bottom of the central tightening assembly. Compared with the conventional nut fastening process completed by manual labor, the aero-engine nut tightening machine arm device can greatly reduce the labor intensity, the nut fastening process is completed by automation, the consistency of the assembly quality process is effectively improved, the nut fastening torque precision is high, and the production and assembly efficiency is further improved.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly technology for aero-engines, and in particular relates to a robotic arm device for tightening nuts on aero-engines. Background Technology

[0002] In the assembly of aero-engine bladed disk rotors, the rotors are typically fastened together by dozens of threaded connectors evenly distributed circumferentially along the axis. The bolts in these threaded connectors are usually specialized D-bolts with axial limiting and angular locking functions, and the other end of the bolts is secured with a twelve-angle flange nut. Therefore, the tightening quality of these threaded connectors is a crucial factor affecting the assembly performance of the aero-engine bladed disk rotor and the overall operational reliability of the aero-engine.

[0003] During the assembly of aero-engine bladed disk rotors, the assembly process for threaded connections is sequential: bolt pre-installation, component docking, and nut tightening. The nut tightening process, in particular, requires the installation and tightening of the nut inside the bladed disk rotor. However, the limited space available inside the rotor results in a very confined space for nut installation and tightening. Furthermore, the internal space of the bladed disk rotor is characterized by a small inlet size, long depth, and a large diameter of fasteners arranged circumferentially, further exacerbating the challenges of narrow feed channels, limited tightening space, and easy interference in multiple areas during nut tightening.

[0004] Currently, the nut tightening process is mainly carried out manually, which results in low automation, poor consistency in assembly quality and process, low precision in nut tightening torque, and low production and assembly efficiency. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a robotic arm device for tightening aircraft engine nuts. Compared with the traditional manual method of completing the nut tightening process, it can significantly reduce the labor intensity of manual labor. The nut tightening process is completed automatically, which effectively improves the consistency of assembly quality and process, and the nut tightening torque accuracy is high, further improving production and assembly efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an aero-engine nut tightening robotic arm device, comprising a rotary indexing assembly, a vertical lifting assembly, a central tightening assembly, a wrench tilting and adjustment assembly, and an auxiliary stabilization assembly; the rotary indexing assembly is connected to the aero-engine bladed disk rotor via an external tooling; the vertical lifting assembly is disposed above the rotary indexing assembly; the central tightening assembly is disposed in the middle of the vertical lifting assembly; the wrench tilting and adjustment assembly is disposed between the vertical lifting assembly and the central tightening assembly; and the auxiliary stabilization assembly is disposed at the bottom of the central tightening assembly.

[0007] The rotary indexing assembly includes a rotary indexing drive motor, a rotary indexing turntable, a gear, a gear ring, and a rotary indexing bearing; the gear ring is fixedly connected to an external tooling; the rotary indexing turntable is located above the gear ring and the two are coaxially distributed; the rotary indexing bearing is disposed between the gear ring and the rotary indexing turntable, the outer ring of the rotary indexing bearing is interference-fitted with the gear ring, and the inner ring of the rotary indexing bearing is interference-fitted with the rotary indexing turntable; the rotary indexing drive motor is vertically fixed above the rotary indexing turntable, the motor shaft of the rotary indexing drive motor faces downward and extends below the rotary indexing turntable; the gear is fixedly mounted on the motor shaft of the rotary indexing drive motor, and the gear meshes with the gear ring.

[0008] The vertical lifting assembly includes a vertical lifting drive motor, a lead screw, a lead screw nut slider, a slide rail, a limit stop, a bearing seat, a lifting slide table, and a support plate. The support plate is vertically fixed to the upper surface of the rotary indexing turntable. The slide rail is vertically fixed to the side surface of the support plate, and the slide rail adopts a parallel double-rail structure. The vertical lifting drive motor is vertically fixed to the top of the support plate with the motor shaft facing downwards. The lead screw is vertically arranged and located between the two slide rails. The upper end of the lead screw is coaxially fixed to the motor shaft of the vertical lifting drive motor, and the lower end of the lead screw is rotatably connected to the support plate through the bearing seat. The lead screw nut slider is disposed between the lead screw and the slide rail. The lifting slide table is fixedly disposed on the lead screw nut slider.

[0009] The number of support plates is two, and the two support plates are distributed in a mirror symmetrical manner with respect to the center of the rotary indexing turntable. Each support plate is equipped with a vertical lifting drive motor, a lead screw, a lead screw nut slider, a slide rail, a limit block and a bearing seat; the number of lifting slides is one, and the lifting slide is fixedly connected between the two lead screw nut sliders.

[0010] Two reinforcing beams are horizontally fixed to the top of the two supporting uprights. The two reinforcing beams are distributed in a mirror symmetrical manner with respect to the center of the rotary indexing turntable, and each reinforcing beam is fixedly equipped with a lifting device.

[0011] The central tightening assembly includes a tightening machine, a tightening force transmission shaft, a tightening wrench gearbox, a guide sleeve, a centering and friction-reducing bearing, and a tightening sleeve. The tightening machine is vertically fixed above the lifting slide with its power output shaft facing downwards. The tightening force transmission shaft is vertically arranged, and its upper end is coaxially fixed to the power output shaft of the tightening machine. The guide sleeve is coaxially fitted on the outside of the tightening force transmission shaft, and its upper end is fixedly connected to the lower surface of the rotary indexing turntable. The centering and friction-reducing bearing is disposed in the gap between the guide sleeve and the tightening force transmission shaft. The tightening wrench gearbox is located below the tightening force transmission shaft, and its power input shaft is connected to the lower end of the tightening force transmission shaft via a universal joint coupling. The tightening sleeve is coaxially fixed to the power output shaft of the tightening wrench gearbox. The middle part of the tightening wrench gearbox is hinged to the bottom end of the guide sleeve.

[0012] The wrench tilting and adjusting assembly includes a wrench tilting and adjusting electric cylinder, a sliding sleeve, and a wrench tilting and adjusting force transmission rod. The wrench tilting and adjusting electric cylinder is vertically hinged to the lifting slide with its power output shaft facing downwards. The sliding sleeve is coaxially fitted on the outside of the guide sleeve, and the sliding sleeve has axial sliding freedom relative to the guide sleeve. The end of the power output shaft of the wrench tilting and adjusting electric cylinder is hinged to the upper end of the sliding sleeve. The upper end of the wrench tilting and adjusting force transmission rod is hinged to the lower end of the sliding sleeve, and the lower end of the wrench tilting and adjusting force transmission rod is hinged to the rear end of the tightening wrench gearbox.

[0013] The auxiliary stabilization assembly includes an auxiliary stabilization drive motor, a camshaft, a top support link, a top support block, and an auxiliary stabilization bracket. The upper end of the auxiliary stabilization bracket is fixedly connected to a guide sleeve. The auxiliary stabilization drive motor is vertically fixed below the auxiliary stabilization bracket with its motor shaft facing upwards, and the motor shaft of the auxiliary stabilization drive motor extends to the inner side of the auxiliary stabilization bracket. The camshaft is coaxially fixed on the motor shaft of the auxiliary stabilization drive motor. One end of the top support link is hinged to a protrusion on the camshaft, and the top support block is hinged to the other end of the top support link. The top support block slides against the inner wall of the impeller rotor. There are two top support links, and each protrusion on the camshaft is hinged to one top support link. Each top support link is hinged to one top support block, and the two top support blocks are mirror-symmetrically distributed with respect to the rotation center of the camshaft.

[0014] The beneficial effects of this invention are: The aircraft engine nut tightening robotic arm device of the present invention can significantly reduce the labor intensity of manual labor compared with the traditional manual method of completing the nut tightening process. The nut tightening process is completed by automation, which effectively improves the consistency of assembly quality and process, and the nut tightening torque accuracy is high, further improving the production assembly efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an aircraft engine nut tightening robotic arm device according to the present invention (viewpoint 1). Figure 2 This is a schematic diagram of the structure of an aircraft engine nut tightening robotic arm device according to the present invention (viewpoint 2). Figure 3 This is a structural schematic diagram of an aircraft engine nut tightening robotic arm device according to the present invention (viewpoint 3). In the diagram, 1—rotary indexing drive motor, 2—rotary indexing turntable, 3—gear, 4—gear ring, 5—rotary indexing bearing, 6—vertical lifting drive motor, 7—lead screw, 8—lead screw nut slider, 9—slide rail, 10—limit stop, 11—bearing seat, 12—lifting slide, 13—support plate, 14—reinforcing beam, 15—lifting tool, 16—tightening machine, 17—tightening force transmission shaft, 18—tightening wrench gearbox, 19—guide sleeve, 20—centering and friction-reducing bearing, 21—tightening sleeve, 22—wrench tilting and adjusting electric cylinder, 23—sliding sleeve, 24—wrench tilting and adjusting force transmission rod, 25—auxiliary stabilization drive motor, 26—camshaft, 27—top support connecting rod, 28—top support block, 29—auxiliary stabilization bracket. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] like Figures 1-3 As shown, an aircraft engine nut tightening robotic arm device includes a rotary indexing assembly, a vertical lifting assembly, a central tightening assembly, a wrench tilting and adjustment assembly, and an auxiliary stabilization assembly. The rotary indexing assembly is connected to the aircraft engine bladed disk rotor via an external tooling. The vertical lifting assembly is positioned above the rotary indexing assembly. The central tightening assembly is positioned in the middle of the vertical lifting assembly. The wrench tilting and adjustment assembly is positioned between the vertical lifting assembly and the central tightening assembly. The auxiliary stabilization assembly is positioned at the bottom of the central tightening assembly.

[0018] The rotary indexing assembly includes a rotary indexing drive motor 1, a rotary indexing turntable 2, a gear 3, a gear ring 4, and a rotary indexing bearing 5. The gear ring 4 is fixedly connected to an external tooling. The rotary indexing turntable 2 is located above the gear ring 4 and the two are coaxially distributed. The rotary indexing bearing 5 is disposed between the gear ring 4 and the rotary indexing turntable 2. The outer ring of the rotary indexing bearing 5 is interference-fitted with the gear ring 4, and the inner ring of the rotary indexing bearing 5 is interference-fitted with the rotary indexing turntable 2. The rotary indexing drive motor 1 is vertically fixed above the rotary indexing turntable 2, and the motor shaft of the rotary indexing drive motor 1 faces downward and extends to the bottom of the rotary indexing turntable 2. The gear 3 is fixedly installed on the motor shaft of the rotary indexing drive motor 1, and the gear 3 meshes with the gear ring 4.

[0019] The vertical lifting assembly includes a vertical lifting drive motor 6, a lead screw 7, a lead screw nut slider 8, a slide rail 9, a limit stop 10, a bearing seat 11, a lifting slide 12, and a support plate 13. The support plate 13 is vertically fixed to the upper surface of the rotary indexing turntable 2. The slide rail 9 is vertically fixed to the side surface of the support plate 13 and adopts a parallel double-rail structure. The vertical lifting drive motor 6 is vertically fixed to the top of the support plate 13 with the motor shaft facing downward. The lead screw 7 is vertically arranged and located between the two slide rails 9. The upper end of the lead screw 7 is coaxially fixed to the motor shaft of the vertical lifting drive motor 6, and the lower end of the lead screw 7 is rotatably connected to the support plate 13 through the bearing seat 11. The lead screw nut slider 8 is arranged between the lead screw 7 and the slide rail 9. The lifting slide 12 is fixedly arranged on the lead screw nut slider 8.

[0020] There are two support plates 13, which are mirror-symmetrically distributed with respect to the center of the rotary indexing turntable 2. Each support plate 13 is equipped with a vertical lifting drive motor 6, a lead screw 7, a lead screw nut slider 8, a slide rail 9, a limit stop 10, and a bearing seat 11. There is one lifting slide 12, which is fixedly connected between the two lead screw nut sliders 8.

[0021] Two reinforcing beams 14 are horizontally fixed at the top of the two supporting uprights 13. The two reinforcing beams 14 are distributed in a mirror symmetrical manner with respect to the center of the rotary indexing turntable 2, and each reinforcing beam 14 is fixedly equipped with a lifting device 15.

[0022] The central tightening assembly includes a tightening machine 16, a tightening force transmission shaft 17, a tightening wrench gearbox 18, a guide sleeve 19, a centering and friction-reducing bearing 20, and a tightening sleeve 21. The tightening machine 16 is vertically fixed above the lifting slide 12 with its power output shaft facing downwards. The tightening force transmission shaft 17 is vertically arranged, and its upper end is coaxially fixed to the power output shaft of the tightening machine 16. The guide sleeve 19 is coaxially fitted onto the outside of the tightening force transmission shaft 17, and its upper end is connected to the rotary indexing shaft. The lower surface of disc 2 is fixedly connected; the centering and friction-reducing bearing 20 is disposed in the gap between the guide sleeve 19 and the tightening force transmission shaft 17; the tightening wrench gearbox 18 is located below the tightening force transmission shaft 17, and the power input shaft of the tightening wrench gearbox 18 is connected to the lower end of the tightening force transmission shaft 17 through a universal joint coupling; the tightening sleeve 21 is coaxially fixedly mounted on the power output shaft of the tightening wrench gearbox 18; the middle part of the tightening wrench gearbox 18 is hinged to the bottom end of the guide sleeve 19.

[0023] The wrench tilting and adjustment assembly includes a wrench tilting and adjustment electric cylinder 22, a sliding sleeve 23, and a wrench tilting and adjustment force transmission rod 24. The wrench tilting and adjustment electric cylinder 22 is vertically hinged to the lifting slide 12 with its power output shaft facing downward. The sliding sleeve 23 is coaxially fitted on the outside of the guide sleeve 19, and the sliding sleeve 23 has axial sliding freedom relative to the guide sleeve 19. The end of the power output shaft of the wrench tilting and adjustment electric cylinder 22 is hinged to the upper end of the sliding sleeve 23. The upper end of the wrench tilting and adjustment force transmission rod 24 is hinged to the lower end of the sliding sleeve 23, and the lower end of the wrench tilting and adjustment force transmission rod 24 is hinged to the rear end of the tightening wrench gearbox 18.

[0024] The auxiliary stabilization assembly includes an auxiliary stabilization drive motor 25, a camshaft 26, a top support connecting rod 27, a top support block 28, and an auxiliary stabilization bracket 29. The upper end of the auxiliary stabilization bracket 29 is fixedly connected to the guide sleeve 19. The auxiliary stabilization drive motor 25 is vertically fixed below the auxiliary stabilization bracket 29 with its motor shaft facing upwards, and the motor shaft of the auxiliary stabilization drive motor 25 extends to the inner side of the auxiliary stabilization bracket 29. The camshaft 26 is coaxially fixed to the motor shaft of the auxiliary stabilization drive motor 25. On the shaft; one end of the top support connecting rod 27 is hinged to the protrusion of the camshaft 26, and the top support block 28 is hinged to the other end of the top support connecting rod 27. The top support block 28 slides against the inner wall of the impeller rotor. There are two top support connecting rods 27. Each protrusion of the camshaft 26 is hinged to a top support connecting rod 27, and each top support connecting rod 27 is hinged to a top support block 28. The two top support blocks 28 are mirror-symmetrically distributed with respect to the rotation center of the camshaft 26.

[0025] The following describes a single use of the present invention with reference to the accompanying drawings: In this embodiment, the rotary indexing drive motor 1, the vertical lifting drive motor 6, the tightening machine 16, the wrench tilting and adjusting electric cylinder 22, and the auxiliary stabilization drive motor 25 are all servo CNC type, which can achieve precise control of the stroke through the built-in encoder. The tightening machine 16 has a built-in torque sensor, which can meet the precise control of the nut tightening torque.

[0026] First, the external tooling is fixedly installed above the rotor of the aero-engine bladed disk. Then, the entire device is hoisted onto the external tooling using the lifting device 15. Next, the gear ring 4 is fixedly connected to the external tooling, ensuring that the center of the gear ring 4 coincides with the inlet center of the internal space of the bladed disk rotor. Additionally, in the initial state, the tightening wrench gearbox 18 is tilted to ensure that it can smoothly pass through the inlet of the small-sized internal space of the bladed disk rotor. The rotary indexing drive motor 1, the vertical lifting drive motor 6, the tightening machine 16, the wrench tilting and adjusting electric cylinder 22, and the auxiliary stabilization drive motor 25 are all adjusted to their initial points. Furthermore, a twelve-angle flange nut has been pre-installed on the tightening sleeve 21.

[0027] After the device and external tooling are installed, start the vertical lifting drive motor 6 to drive the lead screw 7 to rotate. The rotation of the lead screw 7 will be synchronously converted into the vertical descent of the lead screw nut slider 8, which in turn drives the lifting slide 12 and the central tightening assembly, wrench tilting and adjusting assembly and auxiliary stabilization assembly on it to move vertically downward as a whole until the tilted tightening wrench gearbox 18 enters the designated position inside the impeller rotor.

[0028] After the tilted wrench gearbox 18 completes its descent, the wrench tilting and adjusting electric cylinder 22 is activated, causing the power output shaft of the wrench tilting and adjusting electric cylinder 22 to extend downward, driving the sliding sleeve 23 to move downward along the guide sleeve 19. In turn, the downward-moving guide sleeve 19 drives the wrench tilting and adjusting force transmission rod 24 to move, and further drives the wrench gearbox 18 to tilt around its hinge point with the guide sleeve 19 until the wrench gearbox 18 changes from a tilted state to a horizontal state.

[0029] After the wrench gearbox 18 completes the horizontal adjustment, the rotary indexing drive motor 1 is started, which drives the gear 3 to rotate. Since the gear 3 meshes with the fixed gear ring 4, the rotation of the gear 3 will be synchronously converted into the revolution of the gear 3 around the gear ring 4, which in turn drives the rotary indexing turntable 2 to rotate. Finally, it drives the vertical lifting assembly, the central tightening assembly, the wrench tilting and adjusting assembly and the auxiliary stabilizing assembly on it to rotate as a whole until the tightening sleeve 21 moves to the bottom of one of the special D-bolts. At this time, the dodecagonal flange nut in the tightening sleeve 21 is coaxial with the special D-bolt directly above.

[0030] After the dodecagonal flange nut inside the tightening sleeve 21 has been positioned, the auxiliary stabilizing drive motor 25 is started first, driving the camshaft 26 to rotate. This, in turn, drives the top support block 28 to move outward through the top support connecting rod 27 until the top support block 28 contacts the internal space wall of the impeller rotor, thereby improving the stability of the lower overhanging part of the guide sleeve 19. Subsequently, the tightening machine 16 and the vertical lifting drive motor 6 are started simultaneously. The tightening machine 16 drives the tightening force transmission shaft 17 to rotate. The rotational motion of the tightening force transmission shaft 17 is transmitted to the power output shaft of the tightening wrench gearbox 18 through the universal joint coupling, and the tightening wrench gearbox 18 drives the tightening. The sleeve 21 and its inner twelve-corner flange nut rotate synchronously; at the same time, the vertical lifting drive motor 6 drives the lead screw 7 to rotate in the opposite direction. The rotational motion of the lead screw 7 is synchronously converted into the vertical upward motion of the lead screw nut slider 8, which in turn drives the lifting slide 12 and its central tightening assembly, wrench tilting and adjusting assembly and auxiliary stabilizing assembly to move vertically upward as a whole, so as to realize the synchronous upward tightening of the sleeve 21 and its inner twelve-corner flange nut. Through the combined motion of the synchronous rotation and synchronous upward tightening of the sleeve 21 and its inner twelve-corner flange nut, the twelve-corner flange nut is tightened on the special D-bolt until the tightening torque of the twelve-corner flange nut reaches the set value.

[0031] After the dodecagonal flange nut has been automatically tightened, first lower the tightening sleeve 21 to disengage it from the dodecagonal flange nut on the special D-bolt. Then reset the top support block 28, and then restore the horizontal tightening wrench gearbox 18 to its initial tilted state. Then raise the tightening wrench gearbox 18 until the initially tilted tightening wrench gearbox 18 moves out of the internal space of the impeller rotor to its initial position. After that, put the new dodecagonal flange nut into the tightening sleeve 21. Referring to the tightening process of the first dodecagonal flange nut, the tightening work of the remaining dodecagonal flange nuts can be completed.

[0032] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A robotic arm device for tightening aircraft engine nuts, characterized in that: The system includes a rotary indexing assembly, a vertical lifting assembly, a central tightening assembly, a wrench tilting and adjustment assembly, and an auxiliary stabilization assembly. The rotary indexing assembly is connected to the rotor of an aero-engine bladed disk via external tooling. The vertical lifting assembly is positioned above the rotary indexing assembly. The central tightening assembly is located in the middle of the vertical lifting assembly. The wrench tilting and adjustment assembly is positioned between the vertical lifting assembly and the central tightening assembly. The auxiliary stabilization assembly is located at the bottom of the central tightening assembly. The central tightening assembly includes a tightening machine, a tightening force transmission shaft, a tightening wrench gearbox, a guide sleeve, a centering and friction-reducing bearing, and a tightening sleeve. The tightening machine is vertically fixed above the lifting slide with its power output shaft facing downwards. The tightening force transmission shaft is vertically arranged, and its upper end is coaxially fixed to the power output shaft of the tightening machine. The guide sleeve is coaxially fitted onto the outside of the tightening force transmission shaft, and its upper end is fixedly connected to the lower surface of the rotary indexing turntable. The centering and friction-reducing bearing is disposed in the gap between the guide sleeve and the tightening force transmission shaft. The tightening wrench gearbox is located below the tightening force transmission shaft, and its power input shaft is connected to the lower end of the tightening force transmission shaft via a universal joint coupling. The tightening sleeve is coaxially fixed to the power output shaft of the tightening wrench gearbox. The middle part of the tightening wrench gearbox is hinged to the bottom end of the guide sleeve. The wrench tilting and adjusting assembly includes a wrench tilting and adjusting electric cylinder, a sliding sleeve, and a wrench tilting and adjusting force transmission rod. The wrench tilting and adjusting electric cylinder is vertically hinged to the lifting slide with its power output shaft facing downwards. The sliding sleeve is coaxially fitted on the outside of the guide sleeve, and the sliding sleeve has axial sliding freedom relative to the guide sleeve. The end of the power output shaft of the wrench tilting and adjusting electric cylinder is hinged to the upper end of the sliding sleeve. The upper end of the wrench tilting and adjusting force transmission rod is hinged to the lower end of the sliding sleeve, and the lower end of the wrench tilting and adjusting force transmission rod is hinged to the rear end of the tightening wrench gearbox.

2. The aircraft engine nut tightening robotic arm device according to claim 1, characterized in that: The rotary indexing assembly includes a rotary indexing drive motor, a rotary indexing turntable, a gear, a gear ring, and a rotary indexing bearing; the gear ring is fixedly connected to an external tooling; the rotary indexing turntable is located above the gear ring and the two are coaxially distributed; the rotary indexing bearing is disposed between the gear ring and the rotary indexing turntable, the outer ring of the rotary indexing bearing is interference-fitted with the gear ring, and the inner ring of the rotary indexing bearing is interference-fitted with the rotary indexing turntable; the rotary indexing drive motor is vertically fixed above the rotary indexing turntable, the motor shaft of the rotary indexing drive motor faces downward and extends below the rotary indexing turntable; the gear is fixedly mounted on the motor shaft of the rotary indexing drive motor, and the gear meshes with the gear ring.

3. The aircraft engine nut tightening robotic arm device according to claim 2, characterized in that: The vertical lifting assembly includes a vertical lifting drive motor, a lead screw, a lead screw nut slider, a slide rail, a limit stop, a bearing seat, a lifting slide table, and a support plate. The support plate is vertically fixed to the upper surface of the rotary indexing turntable. The slide rail is vertically fixed to the side surface of the support plate, and the slide rail adopts a parallel double-rail structure. The vertical lifting drive motor is vertically fixed to the top of the support plate with the motor shaft facing downwards. The lead screw is vertically arranged and located between the two slide rails. The upper end of the lead screw is coaxially fixed to the motor shaft of the vertical lifting drive motor, and the lower end of the lead screw is rotatably connected to the support plate through the bearing seat. The lead screw nut slider is disposed between the lead screw and the slide rail. The lifting slide table is fixedly disposed on the lead screw nut slider.

4. The aircraft engine nut tightening robotic arm device according to claim 3, characterized in that: The number of support plates is two, and the two support plates are distributed in a mirror symmetrical manner with respect to the center of the rotary indexing turntable. Each support plate is equipped with a vertical lifting drive motor, a lead screw, a lead screw nut slider, a slide rail, a limit block and a bearing seat; the number of lifting slides is one, and the lifting slide is fixedly connected between the two lead screw nut sliders.

5. The aircraft engine nut tightening robotic arm device according to claim 4, characterized in that: Two reinforcing beams are horizontally fixed to the top of the two supporting uprights. The two reinforcing beams are distributed in a mirror symmetrical manner with respect to the center of the rotary indexing turntable, and each reinforcing beam is fixedly equipped with a lifting device.

6. The aircraft engine nut tightening robotic arm device according to claim 3, characterized in that: The auxiliary stabilization assembly includes an auxiliary stabilization drive motor, a camshaft, a top support link, a top support block, and an auxiliary stabilization bracket. The upper end of the auxiliary stabilization bracket is fixedly connected to a guide sleeve. The auxiliary stabilization drive motor is vertically fixed below the auxiliary stabilization bracket with its motor shaft facing upwards, and the motor shaft of the auxiliary stabilization drive motor extends to the inner side of the auxiliary stabilization bracket. The camshaft is coaxially fixed on the motor shaft of the auxiliary stabilization drive motor. One end of the top support link is hinged to a protrusion on the camshaft, and the top support block is hinged to the other end of the top support link. The top support block slides against the inner wall of the impeller rotor. There are two top support links, and each protrusion on the camshaft is hinged to one top support link. Each top support link is hinged to one top support block, and the two top support blocks are mirror-symmetrically distributed with respect to the rotation center of the camshaft.

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