Aero-engine fan rotor lower stage blade disc connecting nut tightening robot

Abstract

An aero-engine fan rotor lower stage blade disc connecting nut tightening robot belongs to the technical field of aero-engine assembly, comprising a indexing positioning assembly, a lifting 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 both arranged on the indexing positioning assembly; the nut tightening assembly is arranged on the lifting 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 tightening force transmission rod, a tightening force transmission wrench gear box, a nut tightening sleeve and a wrench gear box deflection posture adjusting mechanism. Compared with the conventional nut installation and tightening operation relying on manual mode, the aero-engine fan rotor lower stage blade disc connecting nut tightening robot can greatly reduce the manual labor intensity, realizes the automation of the nut installation and tightening operation, effectively improves the consistency of the 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 the connecting nuts of the lower stage blade disk of an aero-engine fan rotor. Background Technology

[0002] In aero-engines, the lower stage bladed disk of the fan rotor is typically assembled by fastening it together with 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 rotor bladed disk component of an aero-engine, the quality of the fastening of its threaded connectors is a significant factor affecting assembly performance and the overall reliability of the engine.

[0003] During the assembly of the lower stage impeller of the fan rotor, 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 lower stage impeller of the fan rotor.

[0004] Currently, the installation and tightening of nuts mainly relies on manual blind installation. Furthermore, the available space inside the lower stage impeller of the fan rotor is limited, resulting in very limited space for nut installation and tightening operations. Therefore, manual nut installation and tightening operations are difficult and suffer from problems such as low automation, poor consistency in 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 the connecting nuts of the lower stage bladed disk of an aero-engine fan rotor. Compared with the traditional method of manually completing the nut installation and tightening operation, it can significantly reduce the labor intensity of manual labor, realize the automation of nut installation and tightening operation, effectively improve the consistency of nut installation and tightening quality, and further improve production assembly efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robot for tightening nuts connecting the lower stage bladed disk of an aero-engine fan rotor, comprising an indexing and positioning component, a lifting and attitude adjustment component, an automatic nut feeding component, and a nut tightening component; the lifting and attitude adjustment component and the automatic nut feeding component are both mounted on the indexing and positioning component; the nut tightening component is mounted on the lifting and attitude adjustment 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 automatic nut feeding assembly includes a nut storage mechanism and a nut transfer mechanism; the nut storage mechanism and the nut transfer mechanism are arranged side by side on the indexing and positioning rotary plate.

[0011] The nut storage mechanism includes a nut storage cylinder, a storage cylinder support, and a spring-type stop block; 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-type stop block is located at the bottom opening of the nut storage cylinder and is horizontally arranged on the storage cylinder support.

[0012] 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 is vertically provided with a nut receiving cone. A miniature photoelectric sensor is embedded on the upper surface of the nut transfer swing arm on the side of the nut receiving cone. The miniature photoelectric sensor is used to detect whether the nuts in the nut storage cylinder have fallen onto the nut receiving cone. The spring-type stop is located on the moving path of the nut receiving cone.

[0013] The nut tightening assembly includes a tightening machine, a tightening force transmission rod, a tightening force transmission wrench gearbox, a nut tightening sleeve, and a wrench gearbox deflection and adjustment mechanism. The tightening machine is vertically mounted on a lifting and adjusting slide, with its power output shaft facing downwards. The tightening force transmission rod is vertically arranged, with its top end coaxially fixed to the power output shaft of the tightening machine, and its bottom end hinged to the power input shaft of the tightening force transmission wrench gearbox via a deflection and adjustment shaft. The nut tightening sleeve is coaxially fixed to the power output shaft of the tightening force transmission wrench gearbox. The wrench gearbox deflection and adjustment mechanism is located between the lifting and adjusting slide and the tightening force transmission wrench gearbox. A nut elastic clamp is provided on the nut tightening sleeve.

[0014] The wrench gearbox deflection and attitude adjustment mechanism includes a wrench gearbox deflection and attitude adjustment electric cylinder, a wrench gearbox deflection and attitude adjustment transmission frame, a transmission rack, a sector gear, a transmission frame guide rail, and a lifting cylinder frame. The lifting cylinder frame is vertically arranged, and its top end is fixedly connected to the lifting and attitude adjustment slide. The tightening force transmission rod is located inside the lifting cylinder frame. The sector gear is fixedly connected to the tightening force transmission wrench gearbox, and its central gear shaft is rotatably connected to the lifting cylinder frame. The central gear shaft of the sector gear is coaxial with the deflection and attitude adjustment shaft. There are two sector gears, symmetrically distributed on the left and right sides of the tightening force transmission wrench gearbox. The wrench gearbox deflection and attitude adjustment mechanism... The electric cylinder is vertically fixed on the lifting and adjusting slide, with the power output shaft of the wrench gearbox deflection and adjusting electric cylinder facing downwards; the wrench gearbox deflection and adjusting transmission frame is vertically arranged and located inside the lifting cylinder, with its top end fixedly connected to the power output shaft of the wrench gearbox deflection and adjusting electric cylinder; the transmission rack is vertically arranged and located inside the lifting cylinder, with its upper end fixedly connected to the bottom end of the wrench gearbox deflection and adjusting transmission frame, and the transmission rack meshing with a sector gear; the transmission frame guide rail is vertically fixed on the wrench gearbox deflection and adjusting transmission frame, and a guide groove is provided on the inner surface of the lifting cylinder, with the transmission frame guide rail slidably connected within the guide groove.

[0015] The beneficial effects of this invention are: The robot for tightening the connecting nut of the lower stage bladed disk of the aero-engine fan rotor of the present invention can significantly reduce the labor intensity of manual labor compared with the traditional method of completing the nut installation and tightening operation. 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

[0016] Figure 1 This is a schematic diagram of the structure of a robot for tightening the connecting nut of the lower stage blade disk 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 the connecting nut of the lower stage blade disk of an aero-engine fan rotor according to the present invention (viewpoint 2). Figure 3 This is a schematic diagram of the nut storage mechanism of the present invention; Figure 4 This is a schematic diagram of the nut transmission mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the tightening force transmission wrench gearbox of the nut tightening assembly (partial) of the present invention when it is in a horizontal position and extended from the hoisting cylinder; Figure 6 This is a schematic diagram of the structure of the tightening force transmission wrench gearbox of the nut tightening assembly (partial) of the present invention when it is in a vertical position and enters the hoisting gantry. 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 backlash-eliminating driven gear, 7—indexing and positioning gear ring, 8—motor bracket, 9—gear bracket, 10—lifting and posture adjustment support column, 11—lifting and posture adjustment slide table, 12—lifting and posture adjustment drive motor, 13—lifting and posture adjustment lead screw, 14—lifting and posture adjustment lead screw nut, 15—lifting and posture adjustment slide rail, 16—lifting and posture adjustment slider, 17—reinforcing crossbeam, 18—lifting device, 19—nut storage. 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—Nut tightening sleeve, 30—Wrench gearbox deflection and attitude adjustment electric cylinder, 31—Wrench gearbox deflection and attitude adjustment transmission frame, 32—Transmission rack, 33—Sector gear, 34—Central gear shaft, 35—Transmission frame guide rail, 36—Lifting cylinder frame, 37—Deflection and attitude adjustment shaft. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-6 As shown, a robot for tightening nuts connecting the lower stage bladed disk of an aero-engine fan rotor includes an indexing and positioning component, a lifting and attitude adjustment component, an automatic nut feeding component, and a nut tightening component; the lifting and attitude adjustment component and the automatic nut feeding component are both mounted on the indexing and positioning component; the nut tightening component is mounted on the lifting and attitude adjustment component.

[0019] The indexing and positioning assembly includes an indexing and positioning adapter 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 6, and an indexing and positioning gear ring 7. The indexing and positioning adapter 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 adapter 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 positioning gear ring 7 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 7 and the two are coaxially distributed; the indexing positioning drive motor 4 is vertically fixed above the indexing positioning rotary plate 3 through the motor bracket 8, 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 7; the indexing positioning backlash-eliminating driven gear 6 is rotatably installed above the indexing positioning rotary plate 3 through the gear bracket 9, and the indexing positioning backlash-eliminating driven gear 6 meshes with the indexing positioning gear ring 7.

[0020] The lifting and adjusting assembly includes a lifting and adjusting support column 10, a lifting and adjusting slide table 11, a lifting and adjusting drive motor 12, a lifting and adjusting lead screw 13, a lifting and adjusting lead screw seat 14, a lifting and adjusting slide rail 15, and a lifting and adjusting slider 16. The lifting and adjusting support column 10 is vertically fixed on the indexing and positioning rotary plate 3. The two lifting and adjusting support columns 10 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 15 is vertically fixed on the lifting and adjusting support column 10. Both lifting and adjusting slide rails 15 on the two lifting and adjusting support columns 10 adopt a parallel double-rail structure. Limit blocks are provided at both ends of the 15; the lifting and adjusting drive motor 12 is vertically fixed on the top of the lifting and adjusting support column 10, with the motor shaft of the lifting and adjusting drive motor 12 facing downwards; the upper end of the lifting and adjusting lead screw 13 is coaxially fixed to the motor shaft of the lifting and adjusting drive motor 12, and the lower end of the lifting and adjusting lead screw 13 is rotatably connected to the indexing and positioning rotary plate 3 through a bearing seat; the lifting and adjusting slider 16 is slidably connected to the lifting and adjusting slide rail 15; the lifting and adjusting slide table 11 is horizontally set and fixedly connected to the lifting and adjusting slider 16; the lifting and adjusting lead screw nut 14 is fitted on the lifting and adjusting lead screw 13 and fixedly connected to the lifting and adjusting slide table 11.

[0021] Two reinforcing beams 17 are horizontally fixed at the top of the two lifting and adjusting support columns 10. The two reinforcing beams 17 are distributed in a mirror symmetrical manner with respect to the center of the indexing and positioning rotary plate 3. Each reinforcing beam 17 is fixedly equipped with a lifting device 18.

[0022] The automatic nut feeding assembly includes a nut storage mechanism and a nut transfer mechanism; the nut storage mechanism and the nut transfer mechanism are arranged side by side on the indexing and positioning rotary plate 3.

[0023] The nut storage mechanism includes a nut storage cylinder 19, a storage cylinder support 20, and a spring-type stop block 21; the storage cylinder support 20 is fixedly installed on the indexing and positioning rotary plate 3; the nut storage cylinder 19 is vertically fixed on the storage cylinder support 20; the spring-type stop block 21 is located at the bottom opening of the nut storage cylinder 19 and is horizontally arranged on the storage cylinder support 20.

[0024] The nut transfer mechanism includes a nut transfer swing arm 22, a nut transfer swing drive motor 23, and a swing drive motor support 24. The swing drive motor support 24 is fixedly mounted on the indexing and positioning rotary plate 3. The nut transfer swing drive motor 23 is vertically fixedly mounted on the swing drive motor support 24 with the motor shaft facing downwards. One end of the nut transfer swing arm 22 is fixedly connected to the motor shaft of the nut transfer swing drive motor 23, and the other end of the nut transfer swing arm 22 is vertically provided with a nut receiving cone 25. A miniature photoelectric sensor is embedded on the upper surface of the nut transfer swing arm 22 on the side of the nut receiving cone 25. The miniature photoelectric sensor is used to detect whether the nuts in the nut storage cylinder 19 have fallen onto the 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 force transmission rod 27, a tightening force transmission wrench gearbox 28, a nut tightening sleeve 29, and a wrench gearbox deflection adjustment mechanism. The tightening machine 26 is vertically mounted on the lifting and adjusting slide 11, with its power output shaft 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 its bottom end hinged to the power input shaft of the tightening force transmission wrench gearbox 28 via a deflection adjustment shaft 37. The nut tightening sleeve 29 is coaxially fixed to the power output shaft of the tightening force transmission wrench gearbox 28. The wrench gearbox deflection adjustment mechanism is located between the lifting and adjusting slide 11 and the tightening force transmission wrench gearbox 28. A nut elastic clamp is provided on the nut tightening sleeve 29.

[0026] The wrench gearbox deflection and attitude adjustment mechanism includes a wrench gearbox deflection and attitude adjustment electric cylinder 30, a wrench gearbox deflection and attitude adjustment transmission frame 31, a transmission rack 32, a sector gear 33, a transmission frame guide rail 35, and a lifting cylinder 36; the lifting cylinder 36 is vertically arranged, and its top end is fixedly connected to the lifting and attitude adjustment slide table 11; the tightening force transmission rod 27 is located inside the lifting cylinder 36; the sector gear 33 is fixedly connected to the tightening force transmission wrench gearbox 28, and the central gear shaft 34 of the sector gear 33 is rotatably connected to the lifting cylinder 36, with the central gear shaft 34 of the sector gear 33 coaxially distributed with the deflection and attitude adjustment shaft 37; there are two sector gears 33, symmetrically distributed on the left and right sides of the tightening force transmission wrench gearbox 28; the wrench gear... The gearbox deflection and attitude adjustment electric cylinder 30 is vertically fixed on the lifting and attitude adjustment slide table 11, with the power output shaft of the gearbox deflection and attitude adjustment electric cylinder 30 facing downwards; the gearbox deflection and attitude adjustment transmission frame 31 is vertically arranged and located inside the lifting cylinder 36, with the top of the gearbox deflection and attitude adjustment transmission frame 31 fixedly connected to the power output shaft of the gearbox deflection and attitude adjustment electric cylinder 30; the transmission rack 32 is vertically arranged and located inside the lifting cylinder 36, with the upper end of the transmission rack 32 fixedly connected to the bottom end of the gearbox deflection and attitude adjustment transmission frame 31, and the transmission rack 32 meshes with the sector gear 33; the transmission frame guide rail 35 is vertically fixed on the gearbox deflection and attitude adjustment transmission frame 31, and a guide groove is provided on the inner surface of the lifting cylinder 36, with the transmission frame guide rail 35 slidably connected in the guide groove.

[0027] 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 posture adjustment drive motor 12, the nut transmission and swing drive motor 23, the tightening machine 26, and the wrench gearbox deflection and posture adjustment electric cylinder 30 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.

[0028] First, the indexing and positioning adapter plate 1 is fixed to the fan rotor. Then, the connecting nuts of the lower stage blade disk of the aero-engine fan rotor are tightened and the robot is hoisted onto the indexing and positioning adapter plate 1 to complete the fixing of the indexing and positioning support plate 2 and the indexing and positioning adapter plate 1.

[0029] After the robot for tightening the connecting nut of the lower stage bladed disk of the aero-engine fan rotor is fixed, the 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 lifting and attitude adjustment slide 11 is at the upper limit of the high point, the nut transmission swing arm 22 is at the zero point of horizontal swing, the tightening force transmission wrench gearbox 28 extends out of the hoisting cylinder 36 in a horizontal posture, and the power output shaft of the tightening force transmission wrench gearbox 28 and the tightening force transmission rod 27 are coaxial.

[0030] After the robot tightening the connecting nut of the lower stage blade disk of the aero-engine fan rotor completes the initial state adjustment, the nut transmission swing drive motor 23 is started, which drives the nut transmission swing arm 22 to swing until the nut receiving cone 25 moves to 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. The nut at the bottom inside 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 the 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.

[0031] After the nut-carrying swing arm 22 returns to its initial position, the indexing and positioning drive motor 4 is started, causing the nut tightening sleeve 29 to move directly above the nut receiving cone 25. Then, the lifting and posture adjustment drive motor 12 is started, causing the nut tightening assembly to descend as a whole until the nut on the nut receiving cone 25 is completely inside the nut tightening sleeve 29. The nut is then clamped and fixed inside the nut tightening sleeve 29 by the nut elastic clips.

[0032] After the nut tightening sleeve 29 completes the nut pickup, the lifting and adjusting drive motor 12 is started, causing the nut tightening assembly to rise as a whole. The nut inside the nut tightening sleeve 29 is separated from the nut receiving cone 25. Then, the wrench gearbox deflection and adjusting electric cylinder 30 is started, lifting the wrench gearbox deflection and adjusting transmission frame 31 and transmission rack 32 upward. Through the meshing transmission action of the transmission rack 32 and the sector gear 33, the sector gear 33 is driven to deflect 90°, which in turn drives the tightening force transmission wrench gearbox 28 to deflect 90° synchronously, so that the tightening force transmission wrench gearbox 28 changes from a horizontal position to a vertical position and enters the hoisting cylinder 36.

[0033] After the tightening force transmission wrench gearbox 28 enters the hoisting cylinder 36, the lifting and adjusting drive motor 12 is started, causing the nut tightening assembly to descend as a whole until the vertical tightening force transmission wrench gearbox 28, along with the hoisting cylinder 36, extends from the axial center hole of the fan rotor into the nut tightening working space where the lower stage impeller of the fan rotor is located. Then, the wrench gearbox deflection and adjusting electric cylinder 30 is started, pushing the wrench gearbox deflection and adjusting transmission frame 31 and transmission rack 32 downward. Through the meshing transmission action of the transmission rack 32 and the sector gear 33, the sector gear 33 is driven to deflect 90°, which in turn drives the tightening force transmission wrench gearbox 28 to deflect 90° synchronously, so that the tightening force transmission wrench gearbox 28 changes from a vertical position to a horizontal position and extends out of the hoisting cylinder 36.

[0034] After the gearbox 28 of the torque wrench completes the horizontal posture switch in the nut tightening working space, the indexing and positioning drive motor 4 is started, so that the nut tightening sleeve 29 moves to the top of the bolt of the first nut to be installed. Then the lifting and posture adjustment drive motor 12 is started, so that the nut tightening assembly is lowered as a whole until the nut in the nut tightening sleeve 29 is connected with the top of the bolt.

[0035] After the nut and bolt are properly aligned in the nut tightening sleeve 29, the tightening machine 26 is started. 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 29. At the same time, the lifting and adjusting drive motor 12 is started to coordinate with the axial height change during the nut tightening process until the tightening torque of the nut reaches the set value.

[0036] After the nut is tightened, the lifting and adjusting drive motor 12 is started first to raise the nut tightening sleeve 29, so that the nut tightening sleeve 29 is separated from the tightened nut. Then, the wrench gearbox deflection and adjusting electric cylinder 30 is started to pull the wrench gearbox deflection and adjusting transmission frame 31 and transmission rack 32 upward. Through the meshing transmission action of the transmission rack 32 and the sector gear 33, the sector gear 33 is driven to deflect 90°, which in turn drives the tightening force transmission wrench gearbox 28 to deflect 90° synchronously, so that the tightening force transmission wrench gearbox 28 changes from a horizontal position to a vertical position and re-enters the hoisting cylinder 36.

[0037] After the torque wrench gearbox 28 re-enters the hoisting cylinder 36, the lifting and adjusting drive motor 12 is started to raise the nut tightening assembly as a whole until the hoisting cylinder 36 is completely removed from the axial center hole of the fan rotor. The torque wrench gearbox 28 then moves out of the nut tightening work space in sync with the hoisting cylinder 36.

[0038] After the gearbox 28 of the torque wrench moves out of the nut tightening work space, the lifting and adjusting drive motor 12 and the indexing and positioning drive motor 4 work together to move the nut tightening sleeve 29 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.

[0039] After all the nuts have been tightened, the robot for tightening the lower stage bladed disk connecting nuts of the aero-engine fan rotor is readjusted back to its initial state. Then, the robot is lifted off the current fan rotor to prepare for the next tightening operation of the lower stage bladed disk connecting nuts.

[0040] 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 robot for tightening the connecting nut of the lower stage bladed disk of an aero-engine fan rotor, characterized in that: The system includes an indexing and positioning component, a lifting and 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 nut tightening component is mounted on the lifting and adjusting component. The automatic nut feeding component includes a nut storage mechanism and a nut transfer mechanism. The nut storage mechanism and the nut transfer mechanism are arranged side-by-side on the indexing and positioning rotary plate. 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 the indexing and positioning rotary plate. The nut storage cylinder is vertically fixed to 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 is vertically provided with a nut receiving cone. A miniature photoelectric sensor is embedded on the upper surface of the nut transfer swing arm on the side of the nut receiving cone. The miniature photoelectric sensor is used to detect whether the nuts in the nut storage cylinder have fallen onto the nut receiving cone. The spring-type stop is located on the moving path of the nut receiving cone.

2. The robot for tightening the connecting nut of the lower stage bladed disk of an aero-engine fan rotor according to claim 1, characterized in that: 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.

3. The robot for tightening the connecting nut of the lower stage bladed disk of an aero-engine fan rotor according to claim 2, characterized in that: 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.

4. The robot for tightening the connecting nut of the lower stage bladed disk of an aero-engine fan rotor according to claim 3, 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.

5. The robot for tightening the connecting nut of the lower stage bladed disk of an aero-engine fan rotor according to claim 3, characterized in that: The nut tightening assembly includes a tightening machine, a tightening force transmission rod, a tightening force transmission wrench gearbox, a nut tightening sleeve, and a wrench gearbox deflection and adjustment mechanism. The tightening machine is vertically mounted on a lifting and adjusting slide, with its power output shaft facing downwards. The tightening force transmission rod is vertically arranged, with its top end coaxially fixed to the power output shaft of the tightening machine, and its bottom end hinged to the power input shaft of the tightening force transmission wrench gearbox via a deflection and adjustment shaft. The nut tightening sleeve is coaxially fixed to the power output shaft of the tightening force transmission wrench gearbox. The wrench gearbox deflection and adjustment mechanism is located between the lifting and adjusting slide and the tightening force transmission wrench gearbox. A nut elastic clamp is provided on the nut tightening sleeve.

6. The robot for tightening the connecting nut of the lower stage bladed disk 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 electric cylinder, a wrench gearbox deflection and attitude adjustment transmission frame, a transmission rack, a sector gear, a transmission frame guide rail, and a lifting cylinder frame. The lifting cylinder frame is vertically arranged, and its top end is fixedly connected to the lifting and attitude adjustment slide. The tightening force transmission rod is located inside the lifting cylinder frame. The sector gear is fixedly connected to the tightening force transmission wrench gearbox, and its central gear shaft is rotatably connected to the lifting cylinder frame. The central gear shaft of the sector gear is coaxial with the deflection and attitude adjustment shaft. There are two sector gears, symmetrically distributed on the left and right sides of the tightening force transmission wrench gearbox. The wrench gearbox deflection and attitude adjustment mechanism... The electric cylinder is vertically fixed on the lifting and adjusting slide, with the power output shaft of the wrench gearbox deflection and adjusting electric cylinder facing downwards; the wrench gearbox deflection and adjusting transmission frame is vertically arranged and located inside the lifting cylinder, with its top end fixedly connected to the power output shaft of the wrench gearbox deflection and adjusting electric cylinder; the transmission rack is vertically arranged and located inside the lifting cylinder, with its upper end fixedly connected to the bottom end of the wrench gearbox deflection and adjusting transmission frame, and the transmission rack meshing with a sector gear; the transmission frame guide rail is vertically fixed on the wrench gearbox deflection and adjusting transmission frame, and a guide groove is provided on the inner surface of the lifting cylinder, with the transmission frame guide rail slidably connected within the guide groove.

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