Aero-engine fan rotor connecting nut tightening robot

Abstract

An aero-engine fan rotor connecting nut tightening robot belongs to the technical field of aero-engine assembly and comprises a indexing positioning assembly, a lifting posture adjusting assembly, a horizontal posture adjusting assembly, a nut automatic feeding assembly and a nut tightening assembly; the lifting posture adjusting assembly and the nut automatic feeding assembly are arranged on the indexing positioning assembly; the horizontal posture adjusting assembly is arranged on the lifting posture adjusting assembly; the nut tightening assembly is arranged on the horizontal posture adjusting assembly; the nut automatic feeding assembly comprises a nut storage mechanism and a nut transmission mechanism; the nut tightening assembly comprises a tightening machine, a lifting posture adjusting mechanism of the tightening machine, a tightening transmission rod, a tightening transmission wrench gear box, a wrench gear box hoisting frame, a posture adjusting mechanism of the wrench gear box and a nut tightening sleeve. The present application can greatly reduce the labor intensity, realizes the automation of nut installation and tightening operation, effectively improves the consistency of nut installation and tightening quality, and further improves 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 robot for tightening connecting nuts of aero-engine fan rotors. Background Technology

[0002] In aero-engines, the fan 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 disk, the quality of the tightening of these threaded connectors is a significant factor affecting assembly performance and the overall reliability of the engine.

[0003] During the fan rotor assembly process, the main assembly processes need to be completed in sequence, including bolt pre-installation, component docking, and nut tightening. For the nut tightening process, the nuts need to be installed and tightened inside the fan rotor.

[0004] Currently, the installation and tightening of nuts mainly relies on manual blind installation. Due to the limited available space inside the fan rotor, the space provided for nut installation and tightening is also very limited. Therefore, manual nut installation and tightening is difficult and has problems such as low automation, poor consistency of nut installation and tightening 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 robot for tightening connecting nuts of aero-engine fan rotors. Compared with the traditional method of manually installing and tightening nuts, it can significantly reduce the intensity of manual labor, automate the nut installation and tightening operations, effectively improve the consistency of nut installation and tightening quality, and further enhance production and assembly efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robot for tightening connecting nuts of an aero-engine fan rotor, comprising an indexing and positioning component, a lifting and adjusting component, a horizontal adjusting component, an automatic nut feeding component, and a nut tightening component; the lifting and adjusting component and the automatic nut feeding component are both mounted on the indexing and positioning component; the horizontal adjusting component is mounted on the lifting and adjusting component; and the nut tightening component is mounted on the horizontal adjusting component.

[0007] The indexing positioning assembly includes an indexing positioning adapter base plate, an indexing positioning support base plate, an indexing positioning rotary plate, an indexing positioning plate bearing, an indexing positioning drive motor, an indexing positioning drive gear, an indexing positioning backlash-eliminating driven gear, and an indexing positioning gear ring. The indexing positioning adapter base plate is horizontally arranged and fixedly connected to the fan rotor. The indexing positioning support base plate is horizontally fixedly installed on the indexing positioning adapter base plate. The indexing positioning rotary plate is horizontally arranged at the center above the indexing positioning support base plate and is rotatably connected to the indexing positioning support base plate through the indexing positioning plate bearing. The indexing positioning gear ring is horizontally fixed on the indexing positioning support base plate, and the indexing positioning rotary plate is located inside the indexing positioning gear ring and the two are coaxially distributed; the indexing positioning drive motor is vertically fixed above the indexing positioning rotary plate through a motor bracket, with the motor shaft of the indexing positioning drive motor facing downwards; the indexing positioning drive gear is fixedly installed on the motor shaft of the indexing positioning drive motor, and the indexing positioning drive gear meshes with the indexing positioning gear ring; the indexing positioning backlash-eliminating driven gear is rotatably installed above the indexing positioning rotary plate through a gear bracket, and the indexing positioning backlash-eliminating driven gear meshes with the indexing positioning gear ring.

[0008] The lifting and adjusting assembly includes lifting and adjusting support columns, a lifting and adjusting slide table, a lifting and adjusting drive motor, a lifting and adjusting lead screw, a lifting and adjusting lead screw seat, a lifting and adjusting slide rail, and a lifting and adjusting slider. The lifting and adjusting support columns are vertically fixed to the indexing and positioning rotary plate, with two columns mirror-symmetrically distributed with respect to the center of the indexing and positioning rotary plate and at a 180° phase angle. The lifting and adjusting slide rails are vertically fixed to the lifting and adjusting support columns, and both lifting and adjusting slide rails on the two columns adopt a parallel double-rail structure. Both ends are equipped with limit blocks; the lifting and adjusting drive motor is vertically fixed to the top of the lifting and adjusting support column, with the motor shaft facing downwards; the upper end of the lifting and adjusting lead screw is coaxially fixed to the motor shaft of the lifting and adjusting drive motor, and the lower end of the lifting and adjusting lead screw is rotatably connected to the indexing and positioning rotary plate through a bearing seat; the lifting and adjusting slider is slidably connected to the lifting and adjusting slide rail; the lifting and adjusting slide table is horizontally set and fixedly connected to the lifting and adjusting slider; the lifting and adjusting lead screw seat is fitted onto the lifting and adjusting lead screw and fixedly connected to the lifting and adjusting slide table.

[0009] Two reinforcing beams are horizontally fixed at the top of the two lifting and adjusting support columns. The two reinforcing beams are distributed in a mirror symmetrical manner with respect to the center of the indexing and positioning rotary plate. Each reinforcing beam is fixedly equipped with a lifting device.

[0010] The horizontal attitude adjustment assembly includes a horizontal attitude adjustment slide plate, a horizontal attitude adjustment drive cylinder, a horizontal attitude adjustment slide rail, and a horizontal attitude adjustment slider. The horizontal attitude adjustment slide rail is horizontally fixed on the upper surface of the lifting attitude adjustment slide plate and adopts a parallel double-rail structure. The horizontal attitude adjustment slider is slidably connected to the horizontal attitude adjustment slide rail. The horizontal attitude adjustment slide plate is horizontally fixed on the horizontal attitude adjustment slider. The horizontal attitude adjustment drive cylinder is horizontally fixed on the upper surface of the lifting attitude adjustment slide plate and is distributed parallel to the horizontal attitude adjustment slide rail. The power output shaft of the horizontal attitude adjustment drive cylinder is fixedly connected to the lower surface of the horizontal attitude adjustment slide plate.

[0011] The automatic nut feeding assembly includes a nut storage mechanism and a nut transfer mechanism. The nut storage mechanism includes a nut storage cylinder, a storage cylinder support, and a spring-loaded stop. The storage cylinder support is fixedly mounted on an indexing and positioning rotary plate. The nut storage cylinder is vertically fixed on the storage cylinder support. The spring-loaded stop is located at the bottom opening of the nut storage cylinder and is horizontally positioned on the storage cylinder support. The nut transfer mechanism includes a nut transfer swing arm, a nut transfer swing drive motor, and a swing drive motor support. The swing drive motor support is fixedly mounted on the indexing and positioning rotary plate. The nut transfer swing drive motor is vertically fixed on the swing drive motor support with its motor shaft facing downwards. One end of the nut transfer swing arm is fixedly connected to the motor shaft of the nut transfer swing drive motor, and the other end of the nut transfer swing arm has a vertically positioned nut receiving cone. The spring-loaded stop is located on the moving path of the nut receiving cone.

[0012] The nut tightening assembly includes a tightening machine, a tightening machine lifting and adjusting mechanism, a tightening force transmission rod, a tightening force transmission wrench gearbox, a wrench gearbox lifting frame, a wrench gearbox deflection and adjusting mechanism, and a nut tightening sleeve. The tightening machine lifting and adjusting mechanism is mounted on a horizontal adjusting slide plate. The tightening machine is vertically mounted on the tightening machine lifting and adjusting mechanism, with the tightening machine's power output shaft facing downwards. The tightening force transmission rod is vertically arranged, with its top end coaxially fixed to the tightening machine's power output shaft, and a polygonal pin is provided at the bottom end of the tightening force transmission rod. The wrench gearbox lifting frame is vertically arranged, and the wrench gearbox is lifted... The top of the mounting bracket is fixedly connected to the horizontal adjustment slide plate; the tightening force transmission wrench gearbox is horizontally arranged and rotatably connected to the bottom of the wrench gearbox lifting frame via bearings; the wrench gearbox deflection adjustment mechanism is arranged between the tightening force transmission wrench gearbox and the wrench gearbox lifting frame; a polygonal insertion hole is provided on the power input shaft of the tightening force transmission wrench gearbox, and the polygonal pin at the bottom of the tightening force transmission rod is inserted into the polygonal insertion hole on the power input shaft of the tightening force transmission wrench gearbox; the nut tightening sleeve is installed on the power output shaft of the tightening force transmission wrench gearbox.

[0013] The tightening machine lifting and adjusting mechanism includes a tightening machine lifting and adjusting electric cylinder and a tightening machine lifting and adjusting bracket; the tightening machine lifting and adjusting electric cylinder is vertically fixed on the horizontal adjusting slide plate, with the power output shaft of the tightening machine lifting and adjusting electric cylinder facing upward; there are two tightening machine lifting and adjusting electric cylinders, which are distributed in a mirror-symmetrical manner with respect to the center of the indexing and positioning rotary plate; the tightening machine lifting and adjusting bracket is fixedly connected to the power output shaft of the tightening machine lifting and adjusting electric cylinder; the tightening machine is vertically fixed on the tightening machine lifting and adjusting bracket.

[0014] The wrench gearbox deflection and attitude adjustment mechanism includes a wrench gearbox deflection and attitude adjustment motor, a drive pulley, a synchronous belt, and a driven pulley; the wrench gearbox deflection and attitude adjustment motor is horizontally fixed in the middle of the wrench gearbox lifting frame; the drive pulley is fixedly installed on the motor shaft of the wrench gearbox deflection and attitude adjustment motor; the driven pulley is fixedly fitted on the tightening force transmission wrench gearbox, and the central axis of the driven pulley coincides with the rotation central axis of the tightening force transmission wrench gearbox; the drive pulley and the driven pulley are connected by a synchronous belt drive.

[0015] The power output shaft of the tightening force transmission wrench gearbox has axial movement freedom. One end of the power output shaft of the tightening force transmission wrench gearbox is coaxially and fixedly connected to the nut tightening sleeve. A limit stop cap is fixedly provided at the other end of the power output shaft of the tightening force transmission wrench gearbox. A buffer spring is provided between the nut tightening sleeve and the tightening force transmission wrench gearbox. A tightening sleeve anti-movement wedge is provided between the limit stop cap and the tightening force transmission wrench gearbox. A wedge drive cylinder is fixedly provided on the tightening force transmission wrench gearbox. The tightening sleeve anti-movement wedge is fixedly connected to the top of the piston rod of the wedge drive cylinder. A nut elastic clamp is provided on the nut tightening sleeve.

[0016] The beneficial effects of this invention are: The aircraft engine fan rotor connecting nut tightening robot of the present invention can significantly reduce the labor intensity of manual labor compared with the traditional manual method of nut installation and tightening. The nut installation and tightening operation is automated, which effectively improves the consistency of nut installation and tightening quality and further enhances production and assembly efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a robot for tightening connecting nuts of an aero-engine fan rotor according to the present invention (viewpoint 1). Figure 2 This is a schematic diagram of the structure of a robot for tightening connecting nuts of an aero-engine fan rotor according to the present invention (viewpoint 2). Figure 3 This is a top view of the assembly structure of the indexing and positioning rotary plate, indexing and positioning gear ring and automatic nut feeding component of the present invention. Figure 4 This is a schematic diagram of the nut storage mechanism of the present invention; Figure 5 This is a schematic diagram of the nut transmission mechanism of the present invention; Figure 6 This is a front view structural diagram of the assembly of the wrench gearbox deflection and posture adjustment mechanism, the tightening force transmission wrench gearbox, and the nut tightening sleeve of the present invention. Figure 7 This is a schematic diagram of the axial side view of the assembly of the tightening force transmission wrench gearbox (partial) and the nut tightening sleeve of the present invention. In the diagram, 1—indexing and positioning adapter base plate, 2—indexing and positioning support base plate, 3—indexing and positioning rotary plate, 4—indexing and positioning drive motor, 5—indexing and positioning drive gear, 6—indexing and positioning gear ring, 7—lifting and adjusting support column, 8—lifting and adjusting slide table, 9—lifting and adjusting drive motor, 10—lifting and adjusting lead screw, 11—lifting and adjusting slide rail, 12—lifting and adjusting slider, 13—reinforcing crossbeam, 14—lifting device, 15—horizontal adjusting slide table plate, 16—horizontal adjusting drive cylinder, 17—horizontal adjusting slide rail, 18—horizontal adjusting slider, 19—nut storage cylinder, 20—storage cylinder support, 21—spring-type stop block. 22—Nut transmission swing arm; 23—Nut transmission swing drive motor; 24—Swing drive motor support; 25—Nut receiving cone; 26—Tightening machine; 27—Tightening force transmission rod; 28—Tightening force transmission wrench gearbox; 29—Wrench gearbox hoisting frame; 30—Nut tightening sleeve; 31—Tightening machine lifting and adjusting electric cylinder; 32—Tightening machine lifting and adjusting bracket; 33—Wrench gearbox deflection and adjusting motor; 34—Drive pulley; 35—Synchronous belt; 36—Driven pulley; 37—Limit stop cap; 38—Buffer spring; 39—Tightening sleeve anti-slip wedge; 40—Wedge drive cylinder; 41—Nut elastic clamp. 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 1-7 As shown, a robot for tightening connecting nuts of an aero-engine fan rotor includes an indexing and positioning component, a lifting and adjusting component, a horizontal adjusting component, an automatic nut feeding component, and a nut tightening component; the lifting and adjusting component and the automatic nut feeding component are both mounted on the indexing and positioning component; the horizontal adjusting component is mounted on the lifting and adjusting component; and the nut tightening component is mounted on the horizontal adjusting component.

[0020] The indexing and positioning assembly includes an indexing and positioning transition base plate 1, an indexing and positioning support base plate 2, an indexing and positioning rotary plate 3, an indexing and positioning inter-plate bearing, an indexing and positioning drive motor 4, an indexing and positioning drive gear 5, an indexing and positioning backlash-eliminating driven gear, and an indexing and positioning gear ring 6. The indexing and positioning transition base plate 1 is horizontally positioned and fixedly connected to the fan rotor. The indexing and positioning support base plate 2 is horizontally fixedly mounted on the indexing and positioning transition base plate 1. The indexing and positioning rotary plate 3 is horizontally positioned at the center above the indexing and positioning support base plate 2, and is rotatably connected to the indexing and positioning support base plate 2 via the indexing and positioning inter-plate bearing. The indexing positioning gear ring 6 is horizontally fixed on the indexing positioning support base plate 2, and the indexing positioning rotary plate 3 is located inside the indexing positioning gear ring 6 and the two are coaxially distributed; the indexing positioning drive motor 4 is vertically fixed above the indexing positioning rotary plate 3 through a motor bracket, and the motor shaft of the indexing positioning drive motor 4 faces downward; the indexing positioning drive gear 5 is fixedly installed on the motor shaft of the indexing positioning drive motor 4, and the indexing positioning drive gear 5 meshes with the indexing positioning gear ring 6; the indexing positioning backlash-eliminating driven gear is rotatably installed above the indexing positioning rotary plate 3 through a gear bracket, and the indexing positioning backlash-eliminating driven gear meshes with the indexing positioning gear ring 6.

[0021] The lifting and adjusting assembly includes a lifting and adjusting support column 7, a lifting and adjusting slide table 8, a lifting and adjusting drive motor 9, a lifting and adjusting lead screw 10, a lifting and adjusting lead screw seat, a lifting and adjusting slide rail 11, and a lifting and adjusting slider 12. The lifting and adjusting support column 7 is vertically fixed on the indexing and positioning rotary plate 3. The two lifting and adjusting support columns 7 are mirror-symmetrically distributed with respect to the center of the indexing and positioning rotary plate 3 and are at a 180° phase angle. The lifting and adjusting slide rail 11 is vertically fixed on the lifting and adjusting support column 7. Both lifting and adjusting slide rails 11 on the two lifting and adjusting support columns 7 adopt a parallel double-rail structure. Limit blocks are provided at both ends of 1; the lifting and adjusting drive motor 9 is vertically fixed on the top of the lifting and adjusting support column 7, with the motor shaft of the lifting and adjusting drive motor 9 facing downwards; the upper end of the lifting and adjusting lead screw 10 is coaxially fixed to the motor shaft of the lifting and adjusting drive motor 9, and the lower end of the lifting and adjusting lead screw 10 is rotatably connected to the indexing and positioning rotary plate 3 through a bearing seat; the lifting and adjusting slider 12 is slidably connected to the lifting and adjusting slide rail 11; the lifting and adjusting slide table 8 is horizontally set and fixedly connected to the lifting and adjusting slider 12; the lifting and adjusting lead screw nut is fitted on the lifting and adjusting lead screw 10 and fixedly connected to the lifting and adjusting slide table 8.

[0022] Two reinforcing beams 13 are horizontally fixed at the top of the two lifting and adjusting support columns 7. The two reinforcing beams 13 are distributed in a mirror symmetrical manner with respect to the center of the indexing and positioning rotary plate 3. Each reinforcing beam 13 is fixedly equipped with a lifting device 14.

[0023] The horizontal attitude adjustment assembly includes a horizontal attitude adjustment slide plate 15, a horizontal attitude adjustment drive cylinder 16, a horizontal attitude adjustment slide rail 17, and a horizontal attitude adjustment slider 18. The horizontal attitude adjustment slide rail 17 is horizontally fixed on the upper surface of the lifting attitude adjustment slide table 8 and adopts a parallel double-rail structure. The horizontal attitude adjustment slider 18 is slidably connected to the horizontal attitude adjustment slide rail 17. The horizontal attitude adjustment slide plate 15 is horizontally fixed on the horizontal attitude adjustment slider 18. The horizontal attitude adjustment drive cylinder 16 is horizontally fixed on the upper surface of the lifting attitude adjustment slide table 8 and is distributed parallel to the horizontal attitude adjustment slide rail 17. The power output shaft of the horizontal attitude adjustment drive cylinder 16 is fixedly connected to the lower surface of the horizontal attitude adjustment slide plate 15.

[0024] The automatic nut feeding assembly includes a nut storage mechanism and a nut transfer mechanism; the nut storage mechanism includes a nut storage cylinder 19, a storage cylinder support 20, and a spring-loaded stop 21; the storage cylinder support 20 is fixedly mounted on the indexing and positioning rotary plate 3; the nut storage cylinder 19 is vertically fixed on the storage cylinder support 20; the spring-loaded stop 21 is located at the bottom opening of the nut storage cylinder 19 and is horizontally positioned on the storage cylinder support 20; the nut transfer mechanism includes a nut transfer swing arm 22 and a nut transfer... A swing drive motor 23 and a swing drive motor support 24 are provided. The swing drive motor support 24 is fixedly installed on the indexing and positioning rotary plate 3. The nut-transmitting swing drive motor 23 is vertically fixed on the swing drive motor support 24 with the motor shaft facing downward. One end of the nut-transmitting swing arm 22 is fixedly connected to the motor shaft of the nut-transmitting swing drive motor 23, and the other end of the nut-transmitting swing arm 22 is vertically provided with a nut-receiving cone 25. The spring-type stop block 21 is located on the moving path of the nut-receiving cone 25.

[0025] The nut tightening assembly includes a tightening machine 26, a tightening machine lifting and adjusting mechanism, a tightening force transmission rod 27, a tightening force transmission wrench gearbox 28, a wrench gearbox lifting frame 29, a wrench gearbox deflection and adjusting mechanism, and a nut tightening sleeve 30. The tightening machine lifting and adjusting mechanism is mounted on a horizontal adjusting slide plate 15. The tightening machine 26 is vertically mounted on the tightening machine lifting and adjusting mechanism, with the power output shaft of the tightening machine 26 facing downwards. The tightening force transmission rod 27 is vertically arranged, with its top end coaxially fixed to the power output shaft of the tightening machine 26, and a polygonal pin is provided at the bottom end of the tightening force transmission rod 27. The wrench gearbox lifting frame 29 is vertically arranged, and the wrench gearbox... The top of the hoisting frame 29 is fixedly connected to the horizontal adjustment slide plate 15; the tightening force transmission wrench gearbox 28 is horizontally arranged and rotatably connected to the bottom of the wrench gearbox hoisting frame 29 via bearings; the wrench gearbox deflection adjustment mechanism is arranged between the tightening force transmission wrench gearbox 28 and the wrench gearbox hoisting frame 29; a polygonal insertion hole is provided on the power input shaft of the tightening force transmission wrench gearbox 28, and the polygonal pin at the bottom of the tightening force transmission rod 27 is inserted into the polygonal insertion hole on the power input shaft of the tightening force transmission wrench gearbox 28; the nut tightening sleeve 30 is installed on the power output shaft of the tightening force transmission wrench gearbox 28.

[0026] The tightening machine lifting and adjusting mechanism includes a tightening machine lifting and adjusting electric cylinder 31 and a tightening machine lifting and adjusting bracket 32; the tightening machine lifting and adjusting electric cylinder 31 is vertically fixed on the horizontal adjusting slide plate 15, and the power output shaft of the tightening machine lifting and adjusting electric cylinder 31 faces upward; there are two tightening machine lifting and adjusting electric cylinders 31, and the two tightening machine lifting and adjusting electric cylinders 31 are distributed in a mirror symmetrical manner with respect to the center of the indexing and positioning rotary plate 3; the tightening machine lifting and adjusting bracket 32 ​​is fixedly connected to the power output shaft of the tightening machine lifting and adjusting electric cylinder 31; the tightening machine 26 is vertically fixed on the tightening machine lifting and adjusting bracket 32.

[0027] The wrench gearbox deflection and attitude adjustment mechanism includes a wrench gearbox deflection and attitude adjustment motor 33, a drive pulley 34, a synchronous belt 35, and a driven pulley 36. The wrench gearbox deflection and attitude adjustment motor 33 is horizontally fixed in the middle of the wrench gearbox lifting frame 29. The drive pulley 34 is fixedly installed on the motor shaft of the wrench gearbox deflection and attitude adjustment motor 33. The driven pulley 36 is fixedly fitted on the tightening force transmission wrench gearbox 28, and the central axis of the driven pulley 36 coincides with the rotation central axis of the tightening force transmission wrench gearbox 28. The drive pulley 34 and the driven pulley 36 are connected by a synchronous belt 35.

[0028] The power output shaft of the tightening force transmission wrench gearbox 28 has axial movement freedom. One end of the power output shaft of the tightening force transmission wrench gearbox 28 is coaxially and fixedly connected to the nut tightening sleeve 30. A limit stop cap 37 is fixedly provided at the other end of the power output shaft of the tightening force transmission wrench gearbox 28. A buffer spring 38 is provided between the nut tightening sleeve 30 and the tightening force transmission wrench gearbox 28. A tightening sleeve anti-movement wedge 39 is provided between the limit stop cap 37 and the tightening force transmission wrench gearbox 28. A wedge drive cylinder 40 is fixedly provided on the tightening force transmission wrench gearbox 28. The tightening sleeve anti-movement wedge 39 is fixedly connected to the top of the piston rod of the wedge drive cylinder 40. A nut elastic clamp 41 is provided on the nut tightening sleeve 30.

[0029] The following describes a single use of the present invention with reference to the accompanying drawings: In this embodiment, the indexing and positioning drive motor 4, the lifting and adjusting drive motor 9, the horizontal adjusting drive cylinder 16, the nut transmission swing drive motor 23, the tightening machine 26, the tightening machine lifting and adjusting cylinder 31, and the wrench gearbox deflection and adjusting motor 33 are all servo CNC type, which can achieve precise control of the stroke through the built-in encoder. The tightening machine 26 has a built-in torque sensor, which can meet the precise control of the nut tightening torque.

[0030] First, the indexing and positioning adapter plate 1 is fixed to the fan rotor. Then, the connecting nut of the aero-engine fan rotor is tightened and the robot is hoisted onto the indexing and positioning adapter plate 1, thus completing the fixing of the indexing and positioning support plate 2 and the indexing and positioning adapter plate 1.

[0031] After the aircraft engine fan rotor connecting nut tightening robot has completed its fixation, the entire aircraft engine fan rotor connecting nut tightening robot is adjusted to its initial state. In the initial state, the indexing and positioning rotary plate 3 is at the zero point of rotation, the horizontal attitude adjustment slide plate 15 is at the zero point of horizontal attitude adjustment, the lifting attitude adjustment slide 8 is at the upper limit of the high point, the nut transmission swing arm 22 is at the zero point of horizontal swing, and the tightening machine lifting attitude adjustment bracket 32 ​​is at the upper limit of the high point.

[0032] After the aircraft engine fan rotor connecting nut tightening robot completes its initial state adjustment, the nut transmission swing drive motor 23 is started, driving the nut transmission swing arm 22 to swing until the nut receiving cone 25 moves directly below the bottom opening of the nut storage cylinder 19. The spring stop 21 is compressed and retracted by the swinging nut transmission swing arm 22. At this time, the spring stop 21 releases its obstruction of the bottom opening of the nut storage cylinder 19, and the nut at the bottom of the nut storage cylinder 19 will automatically fall onto the nut receiving cone 25 under the action of gravity. Then, the nut transmission swing arm 22 is controlled to return to its initial position. During this process, the spring stop 21 is synchronously reset under the action of spring force, and the obstruction of the bottom opening of the nut storage cylinder 19 is completed again.

[0033] When the nut-carrying swing arm 22 returns to its initial position, the indexing and positioning drive motor 4 and the horizontal adjustment drive cylinder 16 work together to move the nut tightening sleeve 30 directly above the nut receiving cone 25. Then, the lifting and adjusting drive motor 9 is started to lower the horizontal adjustment assembly and the nut tightening assembly as a whole until the nut on the nut receiving cone 25 is completely inside the nut tightening sleeve 30. The nut is then clamped and fixed inside the nut tightening sleeve 30 by the nut elastic clamp 41.

[0034] After the nut tightening sleeve 30 completes the nut pickup, the lifting and adjusting drive motor 9 is started, which raises the horizontal adjusting component and the nut tightening component together. The nut inside the nut tightening sleeve 30 is separated from the nut receiving cone 25. Then, the indexing and positioning drive motor 4, the horizontal adjusting drive cylinder 16 and the lifting and adjusting drive motor 9 work together to move the nut tightening sleeve 30 to the nut tightening work space entrance inside the fan rotor.

[0035] When the nut tightening sleeve 30 carrying the nut moves to the entrance of the nut tightening working space inside the fan rotor, the wrench gearbox deflection and attitude adjustment motor 33 is started. Through the driving pulley 34, synchronous belt 35 and driven pulley 36, the tightening force transmission wrench gearbox 28 is driven to deflect 90°, so that the nut tightening sleeve 30 changes from a vertical state to a horizontal state. Then, the horizontal attitude adjustment drive cylinder 16 is started, so that the nut tightening sleeve 30 and the tightening force transmission wrench gearbox 28 pass through the entrance of the nut tightening working space until the nut tightening sleeve 30 enters the nut tightening working space and moves to the top of the bolt of the first nut to be installed.

[0036] After the nut tightening sleeve 30 moves above the bolt, the wrench gearbox deflection and attitude adjustment motor 33 is activated, causing the nut tightening sleeve 30 to return from a horizontal to a vertical state. At this time, the nut tightening sleeve 30 and the bolt are coaxially aligned. Then, the lifting and attitude adjustment drive motor 9 is activated, causing the horizontal attitude adjustment component and the nut tightening component to descend as a whole until the nut inside the nut tightening sleeve 30 aligns with the top of the bolt. During the alignment process, the buffer spring 38 provides vibration damping for the tightening force transmission wrench gearbox 28, preventing rigid impact damage to the nut tightening sleeve 30 and the tightening force transmission wrench gearbox 28 during alignment. Afterward, the wedge drive cylinder 40 is activated, causing the tightening sleeve anti-movement wedge 39 to extend between the limit stop cap 37 and the tightening force transmission wrench gearbox 28, locking the axial movement freedom between the nut tightening sleeve 30 and the tightening force transmission wrench gearbox 28.

[0037] After the nut and bolt are properly aligned in the nut tightening sleeve 30, the lifting and adjusting electric cylinder 31 of the tightening machine is activated, causing the tightening machine lifting and adjusting bracket 32, the tightening machine 26, and the tightening force transmission rod 27 to descend as a whole until the polygonal pin at the bottom of the tightening force transmission rod 27 is inserted into the polygonal socket on the power input shaft of the tightening force transmission wrench gearbox 28. Then, the tightening machine 26 is activated, and the tightening torque is applied to the nut sequentially through the tightening force transmission rod 27, the tightening force transmission wrench gearbox 28, and the nut tightening sleeve 30. At the same time, the lifting and adjusting drive motor 9 is activated to coordinate with the axial height change during the nut tightening process until the tightening torque of the nut reaches the set value.

[0038] After the nut is tightened, first start the lifting and adjusting drive motor 9 to raise the nut tightening sleeve 30, so that the nut tightening sleeve 30 is separated from the tightened nut. Then start the tightening machine lifting and adjusting electric cylinder 31 to raise the tightening machine lifting and adjusting bracket 32, tightening machine 26 and tightening force transmission rod 27 as a whole until the polygonal pin at the bottom of the tightening force transmission rod 27 is separated from the polygonal socket on the power input shaft of the tightening force transmission wrench gearbox 28. Then start the wrench gearbox deflection and adjusting motor 33 to change the nut tightening sleeve 30 from the vertical state to the horizontal state. Then start the horizontal adjusting drive cylinder 16 to move the nut tightening sleeve 30 and the tightening force transmission wrench gearbox 28 out of the nut tightening work space entrance. Then start the wrench gearbox deflection and adjusting motor 33 again to restore the nut tightening sleeve 30 from the horizontal state to the vertical state.

[0039] After the nut tightening sleeve 30 moves out of the nut tightening work space entrance and returns to a vertical position, the lifting and adjusting drive motor 9, the indexing and positioning drive motor 4, and the horizontal adjusting drive cylinder 16 work together to move the nut tightening sleeve 30 to the automatic nut feeding assembly to pick up the next nut. Then, referring to the tightening process of the first nut, the tightening operation of the current nut is completed. This process is repeated until all nuts are tightened.

[0040] After all the nuts have been tightened, the aircraft engine fan rotor connecting nut tightening robot is readjusted back to its initial state. Then, the aircraft engine fan rotor connecting nut tightening robot is lifted away from the current fan rotor to prepare for the next fan rotor connecting nut tightening operation.

[0041] 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. An aircraft engine fan rotor connection nut tightening robot, characterized by: It includes an indexing and positioning component, a lifting and adjusting component, a horizontal adjusting component, an automatic nut feeding component, and a nut tightening component; the lifting and adjusting component and the automatic nut feeding component are both mounted on the indexing and positioning component; the horizontal adjusting component is mounted on the lifting and adjusting component; and the nut tightening component is mounted on the horizontal adjusting component. The indexing positioning assembly includes an indexing positioning adapter base plate, an indexing positioning support base plate, an indexing positioning rotary plate, an indexing positioning plate bearing, an indexing positioning drive motor, an indexing positioning drive gear, an indexing positioning backlash-eliminating driven gear, and an indexing positioning gear ring. The indexing positioning adapter base plate is horizontally arranged and fixedly connected to the fan rotor. The indexing positioning support base plate is horizontally fixedly installed on the indexing positioning adapter base plate. The indexing positioning rotary plate is horizontally arranged at the center above the indexing positioning support base plate and is rotatably connected to the indexing positioning support base plate through the indexing positioning plate bearing. The indexing positioning gear ring is horizontally fixed on the indexing positioning support base plate, and the indexing positioning rotary plate is located inside the indexing positioning gear ring and the two are coaxially distributed; the indexing positioning drive motor is vertically fixed above the indexing positioning rotary plate through a motor bracket, with the motor shaft of the indexing positioning drive motor facing downwards; the indexing positioning drive gear is fixedly installed on the motor shaft of the indexing positioning drive motor, and the indexing positioning drive gear meshes with the indexing positioning gear ring; the indexing positioning backlash-eliminating driven gear is rotatably installed above the indexing positioning rotary plate through a gear bracket, and the indexing positioning backlash-eliminating driven gear meshes with the indexing positioning gear ring; The lifting and adjusting assembly includes lifting and adjusting support columns, a lifting and adjusting slide table, a lifting and adjusting drive motor, a lifting and adjusting lead screw, a lifting and adjusting lead screw seat, a lifting and adjusting slide rail, and a lifting and adjusting slider. The lifting and adjusting support columns are vertically fixed to the indexing and positioning rotary plate. Two lifting and adjusting support columns are mirror-symmetrically distributed with respect to the center of the indexing and positioning rotary plate, and the two columns form a 180° phase angle with respect to the center of the indexing and positioning rotary plate. The lifting and adjusting slide rails are vertically fixed to the lifting and adjusting support columns, and the lifting and adjusting slide rails on both lifting and adjusting support columns are parallel. The system features a double-rail structure with limit blocks at both ends of the lifting and adjusting slide rail. The lifting and adjusting drive motor is vertically fixed to the top of the lifting and adjusting support column, with its motor shaft facing downwards. The upper end of the lifting and adjusting lead screw is coaxially fixed to the motor shaft of the lifting and adjusting drive motor, while the lower end of the lead screw is rotatably connected to the indexing and positioning rotary plate via a bearing seat. The lifting and adjusting slider is slidably connected to the lifting and adjusting slide rail. The lifting and adjusting slide table is horizontally positioned and fixedly connected to the lifting and adjusting slider. The lifting and adjusting lead screw nut is fitted onto the lifting and adjusting lead screw and fixedly connected to the lifting and adjusting slide table.

2. The robot for tightening connecting nuts of an aero-engine fan rotor according to claim 1, characterized in that: Two reinforcing beams are horizontally fixed at the top of the two lifting and adjusting support columns. The two reinforcing beams are distributed in a mirror symmetrical manner with respect to the center of the indexing and positioning rotary plate. Each reinforcing beam is fixedly equipped with a lifting device.

3. The robot for tightening the connecting nut of an aero-engine fan rotor according to claim 1, characterized in that: The horizontal attitude adjustment assembly includes a horizontal attitude adjustment slide plate, a horizontal attitude adjustment drive cylinder, a horizontal attitude adjustment slide rail, and a horizontal attitude adjustment slider. The horizontal attitude adjustment slide rail is horizontally fixedly mounted on the upper surface of the lifting attitude adjustment slide plate and adopts a parallel double-rail structure. The horizontal attitude adjustment slider is slidably connected to the horizontal attitude adjustment slide rail. The horizontal attitude adjustment slide plate is horizontally fixedly mounted on the horizontal attitude adjustment slider. The horizontal attitude adjustment drive cylinder is horizontally fixedly mounted on the upper surface of the lifting attitude adjustment slide plate and is distributed parallel to the horizontal attitude adjustment slide rail. The power output shaft of the horizontal attitude adjustment drive cylinder is fixedly connected to the lower surface of the horizontal attitude adjustment slide plate.

4. The robot for tightening the connecting nut of an aero-engine fan rotor according to claim 1, characterized in that: The automatic nut feeding assembly includes a nut storage mechanism and a nut transfer mechanism; the nut storage mechanism includes a nut storage cylinder, a storage cylinder support, and a spring-loaded stop; the storage cylinder support is fixedly installed on the indexing and positioning rotary plate; the nut storage cylinder is vertically fixed on the storage cylinder support; the spring-loaded stop is located at the bottom opening of the nut storage cylinder and is horizontally set on the storage cylinder support; The nut transmission mechanism includes a nut transmission swing arm, a nut transmission swing drive motor, and a swing drive motor support; the swing drive motor support is fixedly mounted on the indexing and positioning rotary plate; the nut transmission swing drive motor is vertically fixed on the swing drive motor support with the motor shaft facing downwards; one end of the nut transmission swing arm is fixedly connected to the motor shaft of the nut transmission swing drive motor, and the other end of the nut transmission swing arm is vertically provided with a nut receiving cone; the spring-type stop is located on the moving path of the nut receiving cone.

5. The robot for tightening connecting nuts of an aero-engine fan rotor according to claim 3, characterized in that: The nut tightening assembly includes a tightening machine, a tightening machine lifting and adjusting mechanism, a tightening force transmission rod, a tightening force transmission wrench gearbox, a wrench gearbox lifting frame, a wrench gearbox deflection and adjusting mechanism, and a nut tightening sleeve. The tightening machine lifting and adjusting mechanism is mounted on a horizontal adjusting slide plate. The tightening machine is vertically mounted on the tightening machine lifting and adjusting mechanism, with the tightening machine's power output shaft facing downwards. The tightening force transmission rod is vertically arranged, with its top end coaxially fixed to the tightening machine's power output shaft, and a polygonal pin is provided at the bottom end of the tightening force transmission rod. The wrench gearbox lifting frame is vertically arranged, and the wrench gearbox is lifted... The top of the mounting bracket is fixedly connected to the horizontal adjustment slide plate; the tightening force transmission wrench gearbox is horizontally arranged and rotatably connected to the bottom of the wrench gearbox lifting frame via bearings; the wrench gearbox deflection adjustment mechanism is arranged between the tightening force transmission wrench gearbox and the wrench gearbox lifting frame; a polygonal insertion hole is provided on the power input shaft of the tightening force transmission wrench gearbox, and the polygonal pin at the bottom of the tightening force transmission rod is inserted into the polygonal insertion hole on the power input shaft of the tightening force transmission wrench gearbox; the nut tightening sleeve is installed on the power output shaft of the tightening force transmission wrench gearbox.

6. The robot for tightening the connecting nut of an aero-engine fan rotor according to claim 5, characterized in that: The tightening machine lifting and adjusting mechanism includes a tightening machine lifting and adjusting electric cylinder and a tightening machine lifting and adjusting bracket; the tightening machine lifting and adjusting electric cylinder is vertically fixed on the horizontal adjusting slide plate, with the power output shaft of the tightening machine lifting and adjusting electric cylinder facing upward; there are two tightening machine lifting and adjusting electric cylinders, which are distributed in a mirror-symmetrical manner with respect to the center of the indexing and positioning rotary plate; the tightening machine lifting and adjusting bracket is fixedly connected to the power output shaft of the tightening machine lifting and adjusting electric cylinder; the tightening machine is vertically fixed on the tightening machine lifting and adjusting bracket.

7. The robot for tightening connecting nuts of an aero-engine fan rotor according to claim 5, characterized in that: The wrench gearbox deflection and attitude adjustment mechanism includes a wrench gearbox deflection and attitude adjustment motor, a drive pulley, a synchronous belt, and a driven pulley; the wrench gearbox deflection and attitude adjustment motor is horizontally fixed in the middle of the wrench gearbox lifting frame; the drive pulley is fixedly installed on the motor shaft of the wrench gearbox deflection and attitude adjustment motor; the driven pulley is fixedly fitted on the tightening force transmission wrench gearbox, and the central axis of the driven pulley coincides with the rotation central axis of the tightening force transmission wrench gearbox; the drive pulley and the driven pulley are connected by a synchronous belt drive.

8. The robot for tightening the connecting nut of an aero-engine fan rotor according to claim 5, characterized in that: The power output shaft of the tightening force transmission wrench gearbox has axial movement freedom. One end of the power output shaft of the tightening force transmission wrench gearbox is coaxially and fixedly connected to the nut tightening sleeve. A limit stop cap is fixedly provided at the other end of the power output shaft of the tightening force transmission wrench gearbox. A buffer spring is provided between the nut tightening sleeve and the tightening force transmission wrench gearbox. A tightening sleeve anti-movement wedge is provided between the limit stop cap and the tightening force transmission wrench gearbox. A wedge drive cylinder is fixedly provided on the tightening force transmission wrench gearbox. The tightening sleeve anti-movement wedge is fixedly connected to the top of the piston rod of the wedge drive cylinder. A nut elastic clamp is provided on the nut tightening sleeve.

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