An aircraft engine disk nut capping machine arm device

Abstract

An aero-engine disc nut capping machine arm device belongs to the technical field of aero-engine assembly and comprises an indexing positioning assembly, a nut storage and supply assembly and a nut screwing and capping assembly. The indexing positioning assembly is connected with an aero-engine disc rotor through an external tool. The nut storage and supply assembly and the nut screwing and capping assembly are arranged side by side on the indexing positioning assembly. The indexing positioning assembly comprises an indexing positioning support bottom plate, an indexing positioning scale ring, an indexing positioning rotary plate, an indexing positioning plate interaxle bearing and the like. The nut storage and supply assembly comprises a nut storage cylinder, a cylindrical rack, a gear, a nut supply driving motor and the like. The nut screwing and capping assembly comprises a nut screwing and capping driving motor, a nut screwing and capping force transmission shaft, an adapter sleeve, a nut screwing and capping wrench gear box and a nut screwing and capping sleeve and the like. The present application can reduce the labor intensity, realize semi-automatic nut capping, improve the quality consistency of nut capping and further improve the production and assembly efficiency.

Description

Technical Field

[0001] This invention belongs to the field of aero-engine assembly technology, and in particular relates to a robotic arm device for capping nuts between aero-engine discs. Background Technology

[0002] In aero-engines, the bladed disk rotor assembly is typically fastened together by dozens of threaded connectors evenly distributed circumferentially along the axis. The bolts in these threaded connectors are 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. As a crucial component of the aero-engine rotor bladed disk, the quality of the tightening of its threaded connectors is a significant factor affecting assembly performance and the overall reliability of the engine.

[0003] During the assembly of the impeller rotor, the main assembly processes such as bolt pre-assembly, component docking, and nut tightening need to be completed in sequence. Before the nut tightening process, the nut needs to be accurately and efficiently put on the bolt, which is the nut capping process.

[0004] Currently, the nut capping process mainly relies on manual blind installation. Due to the limited available space inside the impeller rotor, the space provided for nut capping is also very limited. Therefore, manual nut capping is difficult and has problems such as low automation, poor consistency of nut capping quality, high labor intensity, 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 capping nuts between aircraft engine discs. Compared with the traditional manual method of capping nuts, it can significantly reduce the intensity of manual labor, achieve semi-automation of nut capping operation, effectively improve the consistency of nut capping quality, and further improve production and assembly efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm device for capping nuts between aircraft engine discs, comprising an indexing and positioning component, a nut storage and supply component, and a nut tightening and capping component; the indexing and positioning component is connected to the aircraft engine bladed disk rotor via an external tooling; the nut storage and supply component and the nut tightening and capping component are arranged side by side on the indexing and positioning component.

[0007] The indexing and positioning assembly includes an indexing and positioning support base plate, an indexing and positioning scale ring, an indexing and positioning rotary plate, and an inter-plate bearing. The indexing and positioning support base plate is horizontally positioned and fixedly connected to an external tooling. The indexing and positioning scale ring is horizontally fixed to the upper surface of the indexing and positioning support base plate. The indexing and positioning rotary plate is horizontally positioned above the indexing and positioning scale ring, and the indexing and positioning rotary plate is coaxially distributed with the indexing and positioning scale ring. The indexing and positioning rotary plate is rotatably connected to the indexing and positioning support base plate through the inter-plate bearing.

[0008] A number of indexing positioning slots are vertically arranged along the circumferential direction on the upper surface of the indexing positioning scale ring. The number of indexing positioning slots is the same as the number of threaded connection assembly holes on the impeller rotor, and their positions correspond one-to-one. An indexing positioning circular hole is opened on the plate body of the indexing positioning rotary plate. The indexing positioning circular hole is located directly above the indexing positioning slot. The diameter of the indexing positioning circular hole is equal to that of the indexing positioning slot. An indexing positioning pin is arranged between the indexing positioning circular hole and the indexing positioning slot.

[0009] Several rotary plate turning handles are vertically arranged along the circumferential direction on the upper surface of the indexing and positioning rotary plate; two device overall movement lifting handles are horizontally fixed at the circumferential part of the indexing and positioning support base plate, and the two device overall movement lifting handles are distributed at a 180° phase angle.

[0010] The nut storage and supply assembly includes a nut storage cylinder, a cylindrical rack, a gear, a nut supply drive motor, and a support base. The nut storage cylinder is vertically arranged and its upper end is fixedly connected to the indexing and positioning rotary plate. The upper opening of the nut storage cylinder is located above the upper surface of the indexing and positioning rotary plate, and a nut clamping spring is provided at the lower opening of the nut storage cylinder. The cylindrical rack is coaxially inserted into the nut storage cylinder and extends upward beyond the upper opening of the nut storage cylinder. The support base is located above the indexing and positioning rotary plate, and the nut supply drive motor is horizontally fixed on the support base. The gear is coaxially fixedly installed on the motor shaft of the nut supply drive motor, and the gear meshes with the cylindrical rack.

[0011] A track plate is horizontally fixed on the upper surface of the indexing and positioning rotary plate directly below the support base. A slide rail is horizontally fixed on the upper surface of the track plate, and the slide rail adopts a parallel double-rail structure. A slider is slidably connected to the slide rail, and the slider is fixedly connected to the lower surface of the support base. A limit hole is provided on the bottom plate of the support base. A stable engagement limit slot and a stable separation limit slot are arranged side by side on the upper surface of the track plate, and the center line connecting the stable engagement limit slot and the stable separation limit slot is parallel to the slide rail. A limit pin is provided between the limit hole and the stable engagement limit slot and the stable separation limit slot.

[0012] The nut tightening and capping assembly includes a nut tightening and capping drive motor, a nut tightening and capping force transmission shaft, an adapter sleeve, a nut tightening and capping wrench gearbox, and a nut tightening and capping sleeve. The nut tightening and capping drive motor is located above the indexing and positioning rotary plate, and is vertically arranged with its motor shaft facing downwards. The upper end of the nut tightening and capping force transmission shaft is coaxially and fixedly connected to the motor shaft of the nut tightening and capping drive motor, and the lower end of the nut tightening and capping force transmission shaft is connected to the power input shaft of the nut tightening and capping wrench gearbox. The gearbox for the nut tightening and capping wrench is coaxially fixed; the nut tightening and capping sleeve is coaxially fixed on the power output shaft of the gearbox, and when the nut is received, the nut tightening and capping sleeve is directly below the lower end of the nut storage cylinder, and when the nut is tightened and capped, the nut tightening and capping sleeve is directly below the bolt; the adapter sleeve is coaxially fitted on the outside of the force transmission shaft of the nut tightening and capping wrench, and the lower end of the adapter sleeve is fixedly connected to the outer shell of the gearbox for the nut tightening and capping wrench through an adapter bracket.

[0013] A support plate is horizontally fixed on the upper surface of the indexing and positioning rotary plate directly below the nut tightening and capping drive motor. An inner positioning sleeve bracket is vertically fixed on the upper surface of the support plate. Both the upper and lower ends of the inner positioning sleeve bracket have outer ring edges. The inner positioning sleeve bracket is fixedly connected to the upper surface of the support plate through its lower outer ring edge. An outer positioning sleeve bracket is coaxially fitted outside the inner positioning sleeve bracket. The outer positioning sleeve bracket adopts a two-part splicing structure. Both the upper and lower ends of the outer positioning sleeve bracket have inner ring edges. The lower inner ring edge of the outer positioning sleeve bracket is located between the upper and lower outer ring edges of the inner positioning sleeve bracket, and the upper inner ring edge of the outer positioning sleeve bracket is located above the upper outer ring edge of the inner positioning sleeve bracket. The upper inner ring edge of the outer positioning sleeve bracket is fixedly connected to the nut tightening and capping drive motor. The upper end of the connecting sleeve is fixedly connected to the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket. A lubricating guide liner is provided between the outer surface of the upper end of the connecting sleeve and the inner surface of the inner positioning sleeve bracket. Several thrust support return springs are vertically and evenly distributed along the circumference between the outer ring edge of the upper end of the inner positioning sleeve bracket and the inner ring edge of the upper end of the outer positioning sleeve bracket. The lower end of the thrust support return spring is fixedly connected to the outer ring edge of the upper end of the inner positioning sleeve bracket, and the upper end of the thrust support return spring slides in contact with the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket through a lubricating gasket. Two wrench gearboxes facing the control handle are fixedly installed on the housing of the nut tightening and capping drive motor. The two wrench gearboxes facing the control handle are distributed at a 180° phase angle.

[0014] Two wrench gearbox orientation positioning pins are vertically fixed on the lower surface of the outer ring edge at the upper end of the inner positioning sleeve bracket, and the two wrench gearbox orientation positioning pins are distributed at a 180° phase angle. Two wrench gearbox orientation positioning holes are provided on the inner ring edge at the lower end of the outer positioning sleeve bracket, and the two wrench gearbox orientation positioning holes are distributed at a 180° phase angle. The wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are inserted into each other. When the thrust support return spring is in its initial extended state, the wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are in an inserted state, and the outer positioning sleeve bracket has a vertical lifting and lowering degree of freedom. When the thrust support return spring is in a compressed state, the wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are in a non-inserted state, and the outer positioning sleeve bracket has a horizontal rotational degree of freedom.

[0015] A cantilever protection frame is vertically fixed at the center below the indexing and positioning support base plate. The nut storage cylinder and the adapter sleeve both pass through the cantilever protection frame. The cantilever protection frame adopts a multi-section assembly structure.

[0016] The beneficial effects of this invention are: The robotic arm device for capping nuts between discs of an aircraft engine, as described in this invention, can significantly reduce the intensity of manual labor compared to the traditional method of capping nuts manually. The nut capping operation is semi-automated, effectively improving the consistency of nut capping quality and further enhancing production and assembly efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a robotic arm device for capping the nut between the discs of an aircraft engine according to the present invention (view 1). Figure 2 This is a schematic diagram of the structure of a robotic arm device for capping the inter-disc nut of an aircraft engine according to the present invention (view 2). Figure 3 This is a cross-sectional view (view 2) of a robotic arm device for capping nuts between discs of an aircraft engine according to the present invention. Figure 4 This is a schematic diagram of the structure of a robotic arm device for capping the nut between the discs of an aircraft engine according to the present invention (view 3). In the diagram, 1—indexing and positioning support base plate, 2—indexing and positioning scale ring, 3—indexing and positioning rotary plate, 4—bearing between indexing and positioning plates, 5—indexing and positioning slot, 6—indexing and positioning pin, 7—rotary plate turn handle, 8—overall device movement lifting lever handle, 9—nut storage cylinder, 10—cylindrical rack, 11—gear, 12—nut supply drive motor, 13—support seat, 14—nut clamping spring, 15—track plate, 16—slide rail, 17—stable engagement limit slot, 18—stable separation limit. 19—Slot; 20—Nut tightening and capping drive motor; 21—Nut tightening and capping force transmission shaft; 22—Adapter sleeve; 23—Nut tightening and capping wrench gearbox; 24—Nut tightening and capping sleeve; 25—Support plate; 26—Inner positioning sleeve bracket; 27—Outer positioning sleeve bracket; 28—Thrust support return spring; 29—Wrench gearbox facing the control handle; 30—Wrench gearbox facing the positioning pin; 31—Wrench gearbox facing the positioning hole; 32—Extension protection frame; 33—Adapter frame. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] like Figures 1-4 As shown, a robotic arm device for capping nuts between aircraft engine disks includes an indexing and positioning component, a nut storage and supply component, and a nut tightening and capping component; the indexing and positioning component is connected to the aircraft engine bladed disk rotor via an external tooling; the nut storage and supply component and the nut tightening and capping component are arranged side by side on the indexing and positioning component.

[0020] The indexing and positioning assembly includes an indexing and positioning support base plate 1, an indexing and positioning scale ring 2, an indexing and positioning rotary plate 3, and an indexing and positioning plate bearing 4. The indexing and positioning support base plate 1 is horizontally arranged and fixedly connected to an external tooling. The indexing and positioning scale ring 2 is horizontally fixed on the upper surface of the indexing and positioning support base plate 1. The indexing and positioning rotary plate 3 is horizontally arranged above the indexing and positioning scale ring 2, and the indexing and positioning rotary plate 3 is coaxially distributed with the indexing and positioning scale ring 2. The indexing and positioning rotary plate 3 is rotatably connected to the indexing and positioning support base plate 1 through the indexing and positioning plate bearing 4.

[0021] A plurality of indexing positioning slots 5 are vertically arranged along the circumferential direction on the upper surface of the indexing positioning scale ring 2. The number of indexing positioning slots 5 is the same as the number of threaded connection assembly holes on the impeller rotor, and their positions correspond one-to-one. An indexing positioning circular hole is opened on the plate body of the indexing positioning rotary plate 3. The indexing positioning circular hole is located directly above the indexing positioning slot 5. The diameter of the indexing positioning circular hole is equal to that of the indexing positioning slot 5. An indexing positioning pin 6 is arranged between the indexing positioning circular hole and the indexing positioning slot 5.

[0022] Several rotary plate turning handles 7 are vertically arranged along the circumferential direction on the upper surface of the indexing and positioning rotary plate 3; two device overall movement lifting handles 8 are horizontally fixed on the periphery of the indexing and positioning support base plate 1, and the two device overall movement lifting handles 8 are distributed at a 180° phase angle.

[0023] The nut storage and supply assembly includes a nut storage cylinder 9, a cylindrical rack 10, a gear 11, a nut supply drive motor 12, and a support base 13. The nut storage cylinder 9 is vertically arranged and its upper end is fixedly connected to the indexing and positioning rotary plate 3. The upper end of the nut storage cylinder 9 is located above the upper surface of the indexing and positioning rotary plate 3, and a nut clamping spring plate 14 is provided at the lower end of the nut storage cylinder 9. The cylindrical rack 10 is coaxially inserted into the nut storage cylinder 9 and extends upward beyond the upper end of the nut storage cylinder 9. The support base 13 is located above the indexing and positioning rotary plate 3, and the nut supply drive motor 12 is horizontally fixed on the support base 13. The gear 11 is coaxially fixedly installed on the motor shaft of the nut supply drive motor 12, and the gear 11 meshes with the cylindrical rack 10.

[0024] A track plate 15 is horizontally fixed on the upper surface of the indexing and positioning rotary plate 3 directly below the support base 13. A slide rail 16 is horizontally fixed on the upper surface of the track plate 15. The slide rail 16 adopts a parallel double-rail structure. A slider is slidably connected to the slide rail 16, and the slider is fixedly connected to the lower surface of the support base 13. A limit hole is provided on the bottom plate of the support base 13. A stable engagement limit slot 17 and a stable separation limit slot 18 are arranged side by side on the upper surface of the track plate 15, and the center line connecting the stable engagement limit slot 17 and the stable separation limit slot 18 is parallel to the slide rail 16. A limit pin 19 is arranged between the limit hole and the stable engagement limit slot 17 and the stable separation limit slot 18.

[0025] The nut tightening and capping assembly includes a nut tightening and capping drive motor 20, a nut tightening and capping force transmission shaft 21, an adapter sleeve 22, a nut tightening and capping wrench gearbox 23, and a nut tightening and capping sleeve 24. The nut tightening and capping drive motor 20 is located above the indexing and positioning rotary plate 3, and is vertically arranged with its motor shaft facing downwards. The upper end of the nut tightening and capping force transmission shaft 21 is coaxially and fixedly connected to the motor shaft of the nut tightening and capping drive motor 20, and the lower end of the nut tightening and capping force transmission shaft 21 is connected to the power input of the nut tightening and capping wrench gearbox 23. The shafts are coaxially fixed; the nut tightening and capping wrench gearbox 23 is horizontally arranged; the nut tightening and capping sleeve 24 is coaxially fixed on the power output shaft of the nut tightening and capping wrench gearbox 23, the nut tightening and capping sleeve 24 is located directly below the lower end of the nut storage cylinder 9 when the nut is received, and directly below the bolt when the nut is tightened and capped; the adapter sleeve 22 is coaxially fitted on the outside of the nut tightening and capping force transmission shaft 21, and the lower end of the adapter sleeve 22 is fixedly connected to the outer shell of the nut tightening and capping wrench gearbox 23 through the adapter bracket 33.

[0026] A support plate 25 is horizontally fixed on the upper surface of the indexing and positioning rotary plate 3 directly below the nut tightening and capping drive motor 20. An inner positioning sleeve bracket 26 is vertically fixed on the upper surface of the support plate 25. Both the upper and lower ends of the inner positioning sleeve bracket 26 are provided with outer ring edges. The lower outer ring edge of the inner positioning sleeve bracket 26 is fixedly connected to the upper surface of the support plate 25. An outer positioning sleeve bracket 27 is coaxially fitted on the outside of the inner positioning sleeve bracket 26. The outer positioning sleeve bracket 27 adopts a two-part splicing structure. Both the upper and lower ends of the outer positioning sleeve bracket 27 are provided with inner ring edges. The lower inner ring edge of the outer positioning sleeve bracket 27 is located between the upper and lower outer ring edges of the inner positioning sleeve bracket 26. The upper inner ring edge of the outer positioning sleeve bracket 27 is located above the upper outer ring edge of the inner positioning sleeve bracket 26. The upper inner ring edge of the outer positioning sleeve bracket 27 is fixedly connected to the nut tightening and capping drive motor 20. The upper end of the adapter sleeve 22 is fixedly connected to the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket 27. A lubricating guide liner is provided between the outer surface of the upper end of the adapter sleeve 22 and the inner surface of the inner positioning sleeve bracket 26. Several thrust support return springs 28 are vertically and evenly distributed along the circumferential direction between the outer ring edge of the upper end of the inner positioning sleeve bracket 26 and the inner ring edge of the upper end of the outer positioning sleeve bracket 27. The lower end of the thrust support return spring 28 is fixedly connected to the outer ring edge of the upper end of the inner positioning sleeve bracket 26. The upper end of the thrust support return spring 28 slides in contact with the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket 27 through a lubricating gasket. Two wrench gearboxes facing the control handle 29 are fixedly installed on the housing of the nut tightening and capping drive motor 20. The two wrench gearboxes facing the control handle 29 are distributed at a 180° phase angle.

[0027] Two wrench gearbox oriented positioning pins 30 are vertically fixed on the lower surface of the outer ring edge at the upper end of the inner positioning sleeve bracket 26, and the two wrench gearbox oriented positioning pins 30 are distributed at a 180° phase angle. Two wrench gearbox oriented positioning holes 31 are provided on the inner ring edge at the lower end of the outer positioning sleeve bracket 27, and the two wrench gearbox oriented positioning holes 31 are distributed at a 180° phase angle. 1. The wrench gearbox oriented positioning pin 30 is inserted into the wrench gearbox; when the thrust support return spring 28 is in the initial extended state, the wrench gearbox oriented positioning hole 31 and the wrench gearbox oriented positioning pin 30 are in the inserted state, and the outer positioning sleeve bracket 27 has a vertical lifting and lowering movement degree of freedom; when the thrust support return spring 28 is in the compressed state, the wrench gearbox oriented positioning hole 31 and the wrench gearbox oriented positioning pin 30 are in the non-inserted state, and the outer positioning sleeve bracket 27 has a horizontal rotational movement degree of freedom.

[0028] A cantilever protection frame 32 is vertically fixed at the center below the indexing and positioning support base plate 1. The nut storage cylinder 9 and the adapter sleeve 22 both pass through the cantilever protection frame 32. The cantilever protection frame 32 adopts a multi-section assembly structure.

[0029] The following describes a single use of the present invention with reference to the accompanying drawings: 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 and the lifting lever handle 8. Next, the indexing and positioning support base plate 1 is fixedly connected to the external tooling, so that the center of the indexing and positioning scale ring 2, the indexing and positioning rotary plate 3, and the bearing 4 between the indexing and positioning plates are aligned with the inlet center of the internal space of the bladed disk rotor.

[0030] After the entire device is fixedly connected to the external tooling, the limiting pin 19 is pulled out of the stable engagement limiting slot 17, the limiting of the support seat 13 is released, and the support seat 13 moves outward along the slide rail 16 on the track plate 15. The gear 11 and the cylindrical rack 10 disengage until the upper limit hole on the bottom plate of the support seat 13 moves directly above the stable separation limiting slot 18. Then, the limiting pin 19 is inserted into the stable separation limiting slot 18 on the track plate 15 through the limiting hole. At this time, the support seat 13 returns to the limiting state.

[0031] After the gear 11 and the cylindrical rack 10 have completed disengagement and adjustment, the cylindrical rack 10 is pulled out from above the nut storage cylinder 9. Then, the prepared dodecagonal flange nuts are placed into the nut storage cylinder 9 one by one, and the number of dodecagonal flange nuts is consistent with the number of threaded connectors used for assembly on the impeller rotor. Then, the cylindrical rack 10 is put back into the nut storage cylinder 9. Then, the limit pin 19 is pulled out from the stable separation limit slot 18, and the limit of the support seat 13 is released again, so that the support seat 13 moves inward along the slide rail 16 on the track plate 15 until the gear 11 and the cylindrical rack 10 re-engage. At this time, the upper limit hole of the bottom plate of the support seat 13 is exactly moved above the stable engagement limit slot 17. Then, the limit pin 19 is reinserted into the stable engagement limit slot 17 on the track plate 15 through the limit hole, so that the support seat 13 returns to the limit state.

[0032] After the dodecagonal flange nut filling process is completed, the nut supply drive motor 12 is started, which drives the gear 11, and then drives the cylindrical rack 10 that meshes with it to move vertically downward, applying downward pressure to the stacked dodecagonal flange nuts until the bottom dodecagonal flange nut in the stacked state is pressed into the bottom nut clamping spring plate 14 between the bottom of the nut storage cylinder 9, in preparation for the dodecagonal flange nut to be screwed on.

[0033] After the dodecagonal flange nut completes the pressing into the nut clamping spring plate 14, the nut tightening and capping process begins. First, the nut supply drive motor 12 is restarted, and the cylindrical rack 10 continues to move vertically downward until the dodecagonal flange nut at the bottom of the nut clamping spring plate 14 in the nut storage cylinder 9 is squeezed out and enters the nut tightening and capping sleeve 24 directly below. Then, downward pressure is applied to the wrench gearbox toward the control handle 29, causing the nut tightening and capping drive motor 20, the outer positioning sleeve bracket 27, the nut tightening and capping force transmission shaft 21, the adapter sleeve 22, the adapter frame 33, the nut tightening and capping wrench gearbox 23, and the nut tightening and capping sleeve 24 to move downward as a whole until the wrench gearbox toward the positioning hole 31 and the wrench gearbox toward the positioning pin 30 are disengaged. At the same time, the nut tightening and capping sleeve 24 carrying the dodecagonal flange nut is also disengaged from the nut storage cylinder 9, and the thrust support return spring 28 is in a compressed state.

[0034] After the wrench gearbox aligning with the positioning hole 31 and the positioning pin 30 disengages from the limit, rotate the wrench gearbox aligning with the control handle 29 horizontally 180°. Simultaneously, the nut tightening and capping drive motor 20, the outer positioning sleeve bracket 27, the nut tightening and capping force transmission shaft 21, the adapter sleeve 22, the adapter bracket 33, the nut tightening and capping wrench gearbox 23, and the nut tightening and capping sleeve 24 will all rotate horizontally 180° in sync with the wrench gearbox aligning with the control handle 29 until the nut tightening and capping sleeve 24 carrying the twelve-angle flange nut moves directly below the first dedicated D-bolt. Then, smoothly release the wrench gearbox aligning with the control handle 29. The downward pressure of the control handle 29 causes the thrust support return spring 28 to gradually extend from the compressed state. At the same time, the upward thrust generated during the extension of the thrust support return spring 28 will drive the nut tightening and capping drive motor 20, the outer positioning sleeve bracket 27, the nut tightening and capping force transmission shaft 21, the adapter sleeve 22, the adapter frame 33, the nut tightening and capping wrench gearbox 23, and the nut tightening and capping sleeve 24 to move upward as a whole until the nut tightening and capping sleeve 24 carrying the twelve-angle flange nut abuts against the bottom of the special D-bolt, and the wrench gearbox facing the positioning hole 31 and the wrench gearbox facing the positioning pin 30 return to the insertion limit state.

[0035] When the dodecagonal flange nut inside the nut-tightening capping sleeve 24 comes into contact with the bottom of the special D-bolt, the nut-tightening capping drive motor 20 is started, which drives the nut-tightening capping force transmission shaft 21 to rotate. Through the transmission of the nut-tightening capping wrench gearbox 23, the nut-tightening capping sleeve 24 is driven to rotate, which in turn drives the dodecagonal flange nut to rotate. At the same time, with the upward thrust generated during the extension of the thrust support return spring 28, the dodecagonal flange nut is finally tightened and capped on the special D-bolt.

[0036] After the twelve-corner flange nut is tightened and capped on the special D-bolt, downward pressure is applied again to the wrench gearbox toward the control handle 29, causing the nut tightening and capping drive motor 20, the outer positioning sleeve bracket 27, the nut tightening and capping force transmission shaft 21, the adapter sleeve 22, the adapter frame 33, the nut tightening and capping wrench gearbox 23, and the nut tightening and capping sleeve 24 to move downward as a whole until the wrench gearbox toward the positioning hole 31 and the wrench gearbox toward the positioning pin 30 are disengaged again. At the same time, the nut tightening and capping sleeve 24 is also disengaged from the twelve-corner flange nut on the special D-bolt, and the thrust support return spring 28 is also in a compressed state again.

[0037] After the nut tightening capped sleeve 24 has completely disengaged from the twelve-angle flange nut on the special D-bolt, rotate the wrench gearbox horizontally 180° towards the control handle 29. Simultaneously, the nut tightening capped drive motor 20, outer positioning sleeve bracket 27, nut tightening capped force transmission shaft 21, adapter sleeve 22, adapter frame 33, nut tightening capped wrench gearbox 23, and nut tightening capped sleeve 24 will all rotate horizontally 180° in sync with the wrench gearbox towards the control handle 29, until the empty nut tightening capped sleeve 24 moves back directly below the nut storage cylinder 9. Then, the downward pressure of the wrench gearbox toward the control handle 29 is released smoothly again, causing the thrust support return spring 28 to gradually extend from the compressed state. The resulting upward thrust will drive the nut tightening and capping drive motor 20, the outer positioning sleeve bracket 27, the nut tightening and capping force transmission shaft 21, the adapter sleeve 22, the adapter frame 33, the nut tightening and capping wrench gearbox 23, and the nut tightening and capping sleeve 24 to move upward as a whole until the nut tightening and capping sleeve 24 is re-connected with the bottom of the nut storage cylinder 9. At this time, the nut tightening and capping process of the first special D-bolt is completed.

[0038] After the first D-bolt's nut tightening and capping process is completed, the indexing positioning pin 6 is removed from the first indexing positioning slot 5, releasing the limiting position between the indexing positioning rotary plate 3 and the indexing positioning support base plate 1. Then, the rotary plate's handle 7 is used to apply rotational force to the indexing positioning rotary plate 3, causing the indexing positioning hole to move directly above the second indexing positioning slot 5. The indexing positioning pin 6 is then inserted through the indexing positioning hole into the second indexing positioning slot 5 on the indexing positioning support base plate 1. At this point, the indexing positioning rotary plate 3 returns to its limiting position. Then, referring to the nut tightening and capping process for the first D-bolt, the nut tightening and capping process for the second D-bolt is completed. This process is repeated until all the D-bolts' nuts are tightened and capped.

[0039] 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 capping nuts between discs of an aircraft engine, characterized in that: It includes an indexing and positioning assembly, a nut storage and supply assembly, and a nut tightening and capping assembly; the indexing and positioning assembly is connected to the rotor of the aero-engine bladed disk via an external tooling; the nut storage and supply assembly and the nut tightening and capping assembly are arranged side by side on the indexing and positioning assembly; The indexing and positioning assembly includes an indexing and positioning support base plate, an indexing and positioning scale ring, an indexing and positioning rotary plate, and an inter-plate bearing. The indexing and positioning support base plate is horizontally positioned and fixedly connected to an external tooling. The indexing and positioning scale ring is horizontally fixed to the upper surface of the indexing and positioning support base plate. The indexing and positioning rotary plate is horizontally positioned above the indexing and positioning scale ring, and the indexing and positioning rotary plate is coaxially distributed with the indexing and positioning scale ring. The indexing and positioning rotary plate is rotatably connected to the indexing and positioning support base plate through the inter-plate bearing. The nut storage and supply assembly includes a nut storage cylinder, a cylindrical rack, a gear, a nut supply drive motor, and a support base. The nut storage cylinder is vertically arranged and its upper end is fixedly connected to the indexing and positioning rotary plate. The upper opening of the nut storage cylinder is located above the upper surface of the indexing and positioning rotary plate, and a nut clamping spring is provided at the lower opening of the nut storage cylinder. The cylindrical rack is coaxially inserted into the nut storage cylinder and extends upward beyond the upper opening of the nut storage cylinder. The support base is located above the indexing and positioning rotary plate, and the nut supply drive motor is horizontally fixed on the support base. The gear is coaxially fixedly installed on the motor shaft of the nut supply drive motor, and the gear meshes with the cylindrical rack. A track plate is horizontally fixed on the upper surface of the indexing and positioning rotary plate directly below the support base. A slide rail is horizontally fixed on the upper surface of the track plate, and the slide rail adopts a parallel double-rail structure. A slider is slidably connected to the slide rail, and the slider is fixedly connected to the lower surface of the support base. A limit hole is provided on the bottom plate of the support base. A stable engagement limit slot and a stable separation limit slot are arranged side by side on the upper surface of the track plate, and the center line connecting the stable engagement limit slot and the stable separation limit slot is parallel to the slide rail. A limit pin is provided between the limit hole and the stable engagement limit slot and the stable separation limit slot.

2. The robotic arm device for capping nuts between discs of an aircraft engine according to claim 1, characterized in that: A number of indexing positioning slots are vertically arranged along the circumferential direction on the upper surface of the indexing positioning scale ring. The number of indexing positioning slots is the same as the number of threaded connection assembly holes on the impeller rotor, and their positions correspond one-to-one. An indexing positioning circular hole is opened on the plate body of the indexing positioning rotary plate. The indexing positioning circular hole is located directly above the indexing positioning slot. The diameter of the indexing positioning circular hole is equal to that of the indexing positioning slot. An indexing positioning pin is arranged between the indexing positioning circular hole and the indexing positioning slot.

3. The robotic arm device for capping nuts between discs of an aircraft engine according to claim 1, characterized in that: Several rotary plate turning handles are vertically arranged along the circumferential direction on the upper surface of the indexing and positioning rotary plate; two device overall movement lifting handles are horizontally fixed at the circumferential part of the indexing and positioning support base plate, and the two device overall movement lifting handles are distributed at a 180° phase angle.

4. The robotic arm device for capping nuts between discs of an aircraft engine according to claim 1, characterized in that: The nut tightening and capping assembly includes a nut tightening and capping drive motor, a nut tightening and capping force transmission shaft, an adapter sleeve, a nut tightening and capping wrench gearbox, and a nut tightening and capping sleeve. The nut tightening and capping drive motor is located above the indexing and positioning rotary plate, and is vertically arranged with its motor shaft facing downwards. The upper end of the nut tightening and capping force transmission shaft is coaxially and fixedly connected to the motor shaft of the nut tightening and capping drive motor, and the lower end of the nut tightening and capping force transmission shaft is connected to the power input shaft of the nut tightening and capping wrench gearbox. The gearbox for the nut tightening and capping wrench is coaxially fixed; the nut tightening and capping sleeve is coaxially fixed on the power output shaft of the gearbox, and when the nut is received, the nut tightening and capping sleeve is directly below the lower end of the nut storage cylinder, and when the nut is tightened and capped, the nut tightening and capping sleeve is directly below the bolt; the adapter sleeve is coaxially fitted on the outside of the force transmission shaft of the nut tightening and capping wrench, and the lower end of the adapter sleeve is fixedly connected to the outer shell of the gearbox for the nut tightening and capping wrench through an adapter bracket.

5. The robotic arm device for capping nuts between discs of an aircraft engine according to claim 4, characterized in that: A support plate is horizontally fixed on the upper surface of the indexing and positioning rotary plate directly below the nut tightening and capping drive motor. An inner positioning sleeve bracket is vertically fixed on the upper surface of the support plate. Both the upper and lower ends of the inner positioning sleeve bracket have outer ring edges. The inner positioning sleeve bracket is fixedly connected to the upper surface of the support plate through its lower outer ring edge. An outer positioning sleeve bracket is coaxially fitted outside the inner positioning sleeve bracket. The outer positioning sleeve bracket adopts a two-part splicing structure. Both the upper and lower ends of the outer positioning sleeve bracket have inner ring edges. The lower inner ring edge of the outer positioning sleeve bracket is located between the upper and lower outer ring edges of the inner positioning sleeve bracket, and the upper inner ring edge of the outer positioning sleeve bracket is located above the upper outer ring edge of the inner positioning sleeve bracket. The upper inner ring edge of the outer positioning sleeve bracket is fixedly connected to the nut tightening and capping drive motor. The upper end of the connecting sleeve is fixedly connected to the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket. A lubricating guide liner is provided between the outer surface of the upper end of the connecting sleeve and the inner surface of the inner positioning sleeve bracket. Several thrust support return springs are vertically and evenly distributed along the circumference between the outer ring edge of the upper end of the inner positioning sleeve bracket and the inner ring edge of the upper end of the outer positioning sleeve bracket. The lower end of the thrust support return spring is fixedly connected to the outer ring edge of the upper end of the inner positioning sleeve bracket, and the upper end of the thrust support return spring slides in contact with the lower surface of the inner ring edge of the upper end of the outer positioning sleeve bracket through a lubricating gasket. Two wrench gearboxes facing the control handle are fixedly installed on the housing of the nut tightening and capping drive motor. The two wrench gearboxes facing the control handle are distributed at a 180° phase angle.

6. The robotic arm device for capping nuts between discs of an aircraft engine according to claim 5, characterized in that: Two wrench gearbox orientation positioning pins are vertically fixed on the lower surface of the outer ring edge at the upper end of the inner positioning sleeve bracket, and the two wrench gearbox orientation positioning pins are distributed at a 180° phase angle. Two wrench gearbox orientation positioning holes are provided on the inner ring edge at the lower end of the outer positioning sleeve bracket, and the two wrench gearbox orientation positioning holes are distributed at a 180° phase angle. The wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are inserted into each other. When the thrust support return spring is in its initial extended state, the wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are in an inserted state, and the outer positioning sleeve bracket has a vertical lifting and lowering degree of freedom. When the thrust support return spring is in a compressed state, the wrench gearbox orientation positioning holes and wrench gearbox orientation positioning pins are in a non-inserted state, and the outer positioning sleeve bracket has a horizontal rotational degree of freedom.

7. The robotic arm device for capping the inter-disc nut of an aircraft engine according to claim 4, characterized in that: A cantilever protection frame is vertically fixed at the center below the indexing and positioning support base plate. The nut storage cylinder and the adapter sleeve both pass through the cantilever protection frame. The cantilever protection frame adopts a multi-section assembly structure.

Images