A special screwing device for continuously variable pitch aviation equipment nut

Abstract

The utility model provides a special screwing equipment of stepless variable pitch aviation equipment nut, including screwing machine, horizontal posture adjusting mechanism, length adjustable screwing arm mechanism, rotary posture adjusting and floating buffer mechanism, screw motor, screw motor support, nut screwing transmission force sleeve, spanner stepless variable pitch executing mechanism, nut screwing spanner, transmission shaft and three channel flexible cable pulling mechanism, the utility model discloses under the condition that the basic function of nut screwing is not changed, endows screwing equipment stepless variable pitch ability, even if the uneven distribution or the different radial size of different position of nut mounting point in the cavity exists along the circumferential direction, but also can realize the dynamic change of nut screwing spanner radial position through stepless variable pitch adjustment, makes the nut screwing sleeve on nut screwing spanner can accurately move to any nut mounting point position, and then makes the nut screwing work of different position nut in the cavity to be smoothly completed, further expands the use scene of screwing equipment, and greatly improves the application range of screwing equipment.

Description

Technical Field

[0001] This utility model belongs to the field of aviation equipment assembly technology, and in particular relates to a special tightening device for continuously variable pitch aviation equipment nuts. Background Technology

[0002] In the aviation industry, many pieces of aviation equipment are fastened together in the circumferential direction by bolts and nuts. At present, the installation and tightening of nuts are mainly done manually. Due to the special nature of aviation equipment, there are usually strict requirements on the tightening torque of nuts. Moreover, the nut installation and tightening process usually requires "tightening → loosening → tightening again", which results in very high labor intensity and very low work efficiency for workers.

[0003] In addition, some fastening points of aviation equipment may be located in harsh working environments such as high temperature and confined space. It is difficult for workers to tighten nuts in such harsh working environments for a long time, which further reduces work efficiency.

[0004] To this end, Chinese patent application No. 202210449031.X discloses a special tightening device for nuts in aviation equipment, which can replace manual methods to complete the nut tightening work, effectively reducing the labor intensity of workers, and can efficiently complete the nut installation and tightening operation even in harsh working environments.

[0005] However, the aforementioned patent applications still have certain limitations in practical applications. For example, in some aviation equipment, the fastening position is located inside a cavity, but the inlet size of the cavity is significantly smaller than the size of the nut tightening wrench of the tightening device, which means that the nut tightening wrench cannot enter the cavity through the cavity inlet, and therefore cannot complete the nut tightening work inside the cavity.

[0006] Therefore, Chinese patent application No. 202410698468.6 discloses a bidirectional folding type special tightening device for aircraft equipment nuts. While keeping the basic function of tightening nuts unchanged, the device is given a bidirectional folding function. Even if the entrance size of the cavity where the aircraft equipment fastening position is located is small, the size of the nut tightening wrench can be reduced by folding, so that the folded nut tightening wrench can smoothly enter the cavity through the cavity entrance. Then, by unfolding, the size of the nut tightening wrench is restored, so that the nut tightening wrench is in working state, thereby enabling the tightening of nuts inside the cavity to be completed smoothly. This effectively expands the application scenarios of the tightening device and improves its applicability.

[0007] However, due to the special nature of aviation equipment, there are some special cases. For example, when the distance between the nut mounting point inside the cavity and the center point of the small cavity inlet is unevenly distributed along the circumference or the radial dimensions are different at different positions, the radial adjustment range that the small cavity inlet can provide for the nut tightening wrench is very limited due to the fixed length dimension after the nut tightening wrench is unfolded. Once the position of the nut mounting point exceeds the radial adjustment range of the nut tightening wrench, it will be impossible to meet the needs of nut tightening work inside the cavity. Utility Model Content

[0008] To address the problems existing in the prior art, this utility model provides a stepless pitch tightening device for aircraft equipment nuts. While maintaining the basic function of nut tightening, it endows the tightening device with stepless pitch capability. Even if the distance between the nut mounting point inside the cavity and the center point of the small cavity inlet is unevenly distributed along the circumference or the radial dimensions are different at different positions, the radial position of the nut tightening wrench can be dynamically changed through stepless pitch adjustment. This allows the nut tightening sleeve on the nut tightening wrench to be accurately moved to any nut mounting point, thus enabling the tightening of nuts at different positions inside the cavity to be completed smoothly. This further expands the application scenarios of the tightening device and greatly improves its applicability.

[0009] To achieve the above objectives, this utility model adopts the following technical solution: a continuously variable pitch (CVT) nut tightening device for aviation equipment, comprising a tightening machine, a horizontal attitude adjustment mechanism, a length-adjustable tightening arm mechanism, a rotary attitude adjustment and floating buffer mechanism, a rotary tightening motor, a rotary tightening motor bracket, a nut tightening force transmission sleeve, a continuously variable pitch wrench actuator, a nut tightening wrench, a force transmission shaft, and a three-channel flexible cable pulling mechanism; the tightening machine is vertically mounted on the horizontal attitude adjustment mechanism; one end of the length-adjustable tightening arm mechanism is connected to the tightening machine, and the other end of the length-adjustable tightening arm mechanism is connected to the rotary attitude adjustment and floating buffer mechanism; the nut tightening force transmission sleeve is vertically mounted on the rotary attitude adjustment and floating buffer mechanism. The rotary motor is vertically mounted above the rotary attitude adjustment and floating buffer mechanism with its motor shaft facing downwards. The rotary motor is fixedly mounted on the top of the nut tightening force transmission sleeve via a rotary motor bracket. The continuously variable torque actuator is mounted on the nut tightening force transmission sleeve. The nut tightening wrench is located at the end of the continuously variable torque actuator. The force transmission shaft is coaxially inserted inside the nut tightening force transmission sleeve. The upper end of the force transmission shaft is coaxially fixed to the motor shaft of the rotary motor, and the lower end of the force transmission shaft is connected to the nut tightening wrench via the continuously variable torque actuator. The three-channel flexible cable traction mechanism is fixedly mounted on the rotary attitude adjustment and floating buffer mechanism and is connected to the nut tightening wrench.

[0010] The horizontal attitude adjustment mechanism includes an outer support frame, an inner support frame, a horizontal attitude adjustment motor, a horizontal attitude adjustment drive gear, a horizontal attitude adjustment driven gear, a horizontal attitude adjustment lead screw, a horizontal attitude adjustment nut, a horizontal attitude adjustment force transmission rod, a horizontal attitude adjustment slide rail, and a horizontal attitude adjustment slider. The horizontal attitude adjustment slide rail is horizontally fixed to the inner surface of the outer support frame and adopts a parallel multi-rail structure. The horizontal attitude adjustment slider is slidably connected to the horizontal attitude adjustment slide rail. The inner support frame is located inside the outer support frame and is fixedly connected to the horizontal attitude adjustment slider. The horizontal attitude adjustment motor is horizontally fixed to the outer side of the outer support frame. The horizontal attitude adjustment lead screw is horizontally arranged on the outer support frame. On the outside of the frame, the two ends of the horizontal attitude adjustment screw are rotatably connected to the outer support frame through bearing seats. The horizontal attitude adjustment screw, the horizontal attitude adjustment slide rail, and the motor shaft of the horizontal attitude adjustment motor are distributed parallel to each other. The horizontal attitude adjustment drive gear is coaxially fixed on the motor shaft of the horizontal attitude adjustment motor. The horizontal attitude adjustment driven gear is coaxially fixed on the end of the horizontal attitude adjustment screw, and the horizontal attitude adjustment driven gear meshes with the horizontal attitude adjustment drive gear. The horizontal attitude adjustment nut is fitted on the horizontal attitude adjustment screw. One end of the horizontal attitude adjustment force transmission rod is fixedly connected to the horizontal attitude adjustment nut, and the other end of the horizontal attitude adjustment force transmission rod is fixedly connected to the inner support frame. The tightening machine is vertically fixed above the inner support frame.

[0011] The adjustable-length tightening arm mechanism includes a static tightening arm, a movable tightening arm, a movable arm guide rail, a movable arm guide slider, a movable arm sliding drive motor, a movable arm sliding drive gear, a movable arm sliding driven gear, a movable arm sliding screw, a movable arm sliding nut, and a movable arm sliding force transmission frame. The static tightening arm is horizontally positioned, with one end fixedly connected to the power output shaft of the tightening machine, and the other end being a free end. The movable arm guide rail is horizontally fixedly mounted on the upper surface of the static tightening arm. The movable arm guide slider is slidably connected to the movable arm guide rail. The movable tightening arm is horizontally positioned above the static tightening arm, and the two are parallel to each other. The lower surface of the movable tightening arm is fixedly connected to the movable arm guide slider. The movable arm sliding drive motor... The moving motor is horizontally fixed below the stationary tightening arm; the moving arm sliding screw is horizontally arranged below the stationary tightening arm, and both ends of the moving arm sliding screw are rotatably connected to the stationary tightening arm through bearing seats. The moving arm sliding screw, the moving arm guide rail, and the motor shaft of the moving arm sliding drive motor are distributed parallel to each other; the moving arm sliding drive gear is coaxially fixed on the motor shaft of the moving arm sliding drive motor; the moving arm sliding driven gear is coaxially fixed on the end of the moving arm sliding screw, and the moving arm sliding driven gear meshes with the moving arm sliding drive gear; the moving arm sliding nut is fitted on the moving arm sliding screw; one end of the moving arm sliding force transmission frame is fixedly connected to the moving arm sliding nut, and the other end of the moving arm sliding force transmission frame is fixedly connected to the moving tightening arm.

[0012] The rotary attitude adjustment and floating buffer mechanism includes a static support frame, a worm gear reducer motor, a moving support frame, a floating buffer guide rail, and a floating buffer guide slider. The static support frame is vertically arranged, and its bottom end is fixedly connected to the upper surface of the moving tightening arm. The three-channel flexible cable pulling mechanism is fixedly installed on the vertical plate of the static support frame. The worm gear reducer motor is fixedly installed on the upper surface of the top plate of the static support frame. The worm gear discs inside the worm gear reducer motor are horizontally distributed, and the worm gear shaft is a hollow shaft. The force transmission shaft passes through the central hole of the worm gear shaft. The top plate of the moving support frame is rotatably connected to the top plate of the static support column through bearings, and the bottom plate of the moving support frame is connected to the top plate of the static support column through bearings. The bearing is rotatably connected to the moving tightening arm; the screw motor bracket vertically passes through the worm gear disc of the worm gear reducer motor and extends downward to below the top plate of the moving support frame; the nut tightening force transmission sleeve vertically passes through the bottom plate of the moving support frame and is fixedly connected to the screw motor bracket above; a floating buffer support spring is provided between the nut tightening force transmission sleeve and the bottom plate of the moving support frame; the floating buffer guide slide is vertically fixed on the outer surface of the nut tightening force transmission sleeve and is located above the bottom plate of the moving support frame; the floating buffer guide slider is slidably connected to the floating buffer guide slide rail; the upright plate of the moving support frame is fixedly connected to the floating buffer guide slider.

[0013] The continuously variable torque actuator of the wrench includes a continuously variable torque drive assembly and a continuously variable torque adjustment assembly, with the continuously variable torque adjustment assembly located below the continuously variable torque drive assembly. The continuously variable torque drive assembly includes a continuously variable torque drive motor, a continuously variable torque drive gear, a continuously variable torque driven gear, a continuously variable torque lead screw, a continuously variable torque nut, a continuously variable torque slide rail, a continuously variable torque slider, a continuously variable torque transmission frame, a continuously variable torque transmission rod, and a continuously variable torque transmission block. The continuously variable torque drive motor is vertically fixed to the outer surface of the nut tightening force transmission sleeve. The continuously variable torque lead screw is vertically disposed on the outer surface of the nut tightening force transmission sleeve, and its two ends are rotatably connected to the nut tightening force transmission sleeve via bearing seats. The continuously variable torque drive motor... The gear is coaxially fixed on the motor shaft of the continuously variable pitch drive motor; the continuously variable pitch driven gear is coaxially fixed on the end of the continuously variable pitch screw, and the continuously variable pitch driven gear meshes with the continuously variable pitch driving gear; the continuously variable pitch nut is fitted on the continuously variable pitch screw; the continuously variable pitch force transmission frame is fixedly connected to the continuously variable pitch nut; the continuously variable pitch slide rail is vertically fixed on the outer surface of the nut tightening force transmission sleeve; the continuously variable pitch slider is slidably connected to the continuously variable pitch slide rail, and the continuously variable pitch slider is fixedly connected to the continuously variable pitch force transmission frame; the continuously variable pitch force transmission rod is vertically arranged, the top end of the continuously variable pitch force transmission rod is fixedly connected to the continuously variable pitch force transmission frame, and the continuously variable pitch force transmission block is fixedly installed at the bottom end of the continuously variable pitch force transmission rod.

[0014] The continuously variable pitch adjustment assembly includes a cable chain, a cable chain track frame, a track frame lifting slide rail, a track frame lifting slider, a wrench-assisted telescopic arm, a telescopic arm retraction and reset rope, a telescopic arm retraction and reset spring, a rope reversing guide wheel assembly, and a reversing guide wheel mounting base. The track frame lifting slide rail is vertically fixed to the outer surface of the nut tightening force transmission sleeve. The track frame lifting slider is slidably connected to the track frame lifting slide rail. The top of the cable chain track frame is fixedly connected to the track frame lifting slider, and the continuously variable pitch force transmission block is connected to the top of the cable chain track frame. Fixed connection; one end of the cable chain is hinged to the bottom end of the nut tightening force transmission sleeve, and the nut tightening wrench is hinged to the other end of the cable chain; a cable chain guide groove is provided on the cable chain track frame, the upper end of the cable chain guide groove is vertically oriented, and the lower end of the cable chain guide groove is horizontally oriented; a cable chain guide roller is provided on the outside of each link hinge point of the cable chain, and the cable chain guide roller is located in the cable chain guide groove; a connecting shaft is rotatably provided in the middle of each link of the cable chain, and adjacent connecting shafts are connected by a through-hole. The components are connected via universal couplings, and the bottom end of the transmission shaft is also connected to the connecting shaft on the last link of the drag chain, and the connecting shaft on the first link of the drag chain is also connected to the nut tightening wrench via universal couplings; the reversing guide wheel mounting seat is fixedly installed at the bottom of the drag chain track frame, and the pull rope reversing guide wheel assembly is set on the reversing guide wheel mounting seat; the rear end of the last stage arm of the wrench auxiliary support telescopic arm is fixedly connected to the reversing guide wheel mounting seat, and the inner side of the front end of the first stage arm of the wrench auxiliary support telescopic arm is provided with a roller groove; in the... The nut tightening wrench is equipped with a wrench guide roller; when the nut tightening wrench extends out of the lower end of the drag chain guide groove, the wrench guide roller and the outermost drag chain guide roller on the last link of the drag chain are both located in the roller groove; the upper end of the telescopic arm retraction and reset spring is fixedly connected to the stepless torque transmission block, the telescopic arm retraction and reset spring is fixedly connected to one end of the telescopic arm retraction and reset pull rope, and the other end of the telescopic arm retraction and reset pull rope passes through the pull rope reversing guide wheel assembly and is fixedly connected to the rear end of the first stage arm of the wrench auxiliary support telescopic arm.

[0015] The continuously variable pitch adjustment assembly also includes another structural form, which comprises a cable chain, a cable chain track frame, a track frame lifting slide rail, and a track frame lifting slider; the track frame lifting slide rail is vertically fixed to the outer surface of the nut tightening force transmission sleeve; the track frame lifting slider is slidably connected to the track frame lifting slide rail; the top of the cable chain track frame is fixedly connected to the track frame lifting slider, and the continuously variable pitch force transmission block is fixedly connected to the top of the cable chain track frame; one end of the cable chain is hinged to the bottom end of the nut tightening force transmission sleeve, and the nut tightening wrench is hinged... Connected to the other end of the cable chain; the cable chain track frame adopts an L-shaped structure, and a cable chain guide groove is provided on the cable chain track frame. The cable chain guide groove also adopts an L-shaped structure, with the L-shaped longitudinal groove facing vertically and the L-shaped transverse groove facing horizontally; a cable chain guide roller is provided on the outside of each link hinge point of the cable chain, and the cable chain guide roller is located in the cable chain guide groove; a wrench guide roller is provided on the nut tightening wrench; a connecting shaft is rotatably provided in the middle of each link of the cable chain, and adjacent connecting shafts are connected by universal joints. The shafts are connected, and the bottom end of the transmission shaft is connected to the connecting shaft on the last link of the drag chain, and the connecting shaft on the first link of the drag chain is also connected to the nut tightening wrench via universal couplings. A spring-loaded limiting block is provided on the side of each link end, and a limiting boss is provided on the side of the spring-loaded limiting block. The surface of the limiting boss is flat. The end face of the link adjacent to the spring-loaded limiting block and the hinged end face of the nut tightening wrench are also flat. The L-shaped crossarm of the drag chain track frame adopts a variable thickness structure, with the thickness of the rear half of the L-shaped crossarm being greater than that of the front half. The thickness of the segment arm; when the spring limiting top block is located at the rear half of the L-shaped cross arm of the drag chain track frame, the limiting boss of the spring limiting top block is offset from the end face of the adjacent chain link; when the spring limiting top block is located at the front half of the L-shaped cross arm of the drag chain track frame or the L-shaped longitudinal groove extending from the drag chain guide slide, the limiting boss of the spring limiting top block is in contact with the end face of the adjacent chain link or the hinged end face of the nut tightening wrench to form a mutually locking limiting structure, so that the nut tightening wrench and the chain link extending from the L-shaped longitudinal groove of the drag chain guide slide are both kept in a horizontal state.

[0016] The nut tightening wrench includes a housing, a cover, an input shaft, a driving bevel gear, a driven bevel gear, an input spur gear, an output spur gear, a nut tightening sleeve, a sleeve limiting plate, an auxiliary limiting bracket, a left pawl, a right pawl, and a nut pressure plate. The end of the housing is hinged to the cable chain. The input shaft is rotatably connected to the housing via a bearing seat, and the rear end of the input shaft is connected to the connecting shaft on the first link of the cable chain via a universal coupling. The driving bevel gear is coaxially fixed to the front end of the input shaft. The driven bevel gear and the input end... A spur gear is coaxially mounted within the housing, and the driven bevel gear meshes with the driving bevel gear. The output spur gear is also rotatably mounted within the housing, meshing with the input spur gear. A nut-tightening sleeve is positioned within the housing via a sleeve limiting plate, possessing only rotational freedom within the housing. A transmission external gear ring and a ratchet gear ring are axially mounted on the outer surface of the nut-tightening sleeve, with the transmission external gear ring meshing with the output spur gear. The cover is fixedly connected to the housing, and the driving bevel gear within the housing... The gear, driven bevel gear, input spur gear, output spur gear, and the transmission external gear ring on the outer surface of the nut tightening sleeve are sealed by a cover. A sleeve through-hole is provided on the housing directly opposite the nut tightening sleeve. The auxiliary limiting frame is fixedly mounted on the housing outside the sleeve through-hole. The ratchet gear ring is located inside the auxiliary limiting frame. The inner surface of the nut tightening sleeve has a dodecagonal hole, which mates with the nut to be tightened. The left and right ratchet pawls are mirror-symmetrically arranged inside the auxiliary limiting frame. The root of the right pawl is hinged to the auxiliary limiting frame. The top ratchet teeth of the left and right pawls cooperate with the ratchet tooth ring. The left and right pawls are respectively provided with a left pawl return spring and a right pawl return spring between the left and right pawls and the auxiliary limiting frame. The left and right pawls are respectively connected to the three-channel flexible cable traction mechanism through the first flexible cable and the second flexible cable. The nut pressure plate is set inside the auxiliary limiting frame. A pressure plate return spring is provided between the nut pressure plate and the auxiliary limiting frame. The nut pressure plate is connected to the three-channel flexible cable traction mechanism through the third flexible cable.

[0017] The nut tightening wrench also includes another structural form, comprising a housing, a cover, an input shaft, a driving bevel gear, a driven bevel gear, an input spur gear, an output spur gear, a nut tightening sleeve, a sleeve limiting plate, an auxiliary limiting frame, a ratchet plate, a first connecting rod, a second connecting rod, a third connecting rod, and a nut pressure plate; the end of the housing is hinged to the cable chain; the input shaft is rotatably connected to the housing via a bearing seat, and the rear end of the input shaft is connected to the connecting shaft on the first link of the cable chain via a universal coupling; the driving bevel gear is coaxially fixed to the front end of the input shaft; the driven bevel gear... The input spur gear and the driven bevel gear are coaxially mounted within the housing, and the driven bevel gear meshes with the driving bevel gear. The output spur gear is rotatably mounted within the housing and meshes with the input spur gear. The nut tightening sleeve is mounted within the housing via a sleeve limiting plate, and the nut tightening sleeve has only rotational freedom within the housing. A transmission external gear ring and a ratchet gear ring are respectively provided axially on the outer surface of the nut tightening sleeve, and the transmission external gear ring meshes with the output spur gear. The cover is fixedly connected to the housing, and the driving bevel gear, driven bevel gear, and input spur gear within the housing... The gear, output spur gear, and transmission external gear ring on the outer surface of the nut tightening sleeve are sealed by a cover. A sleeve through-hole is provided on the housing opposite the nut tightening sleeve. The auxiliary limiting frame is fixedly mounted on the housing outside the sleeve through-hole. The ratchet gear ring is located inside the auxiliary limiting frame. The inner surface of the nut tightening sleeve has a dodecagonal hole, which mates with the nut to be tightened. The ratchet plate, first connecting rod, second connecting rod, and third connecting rod are located inside the auxiliary limiting frame and connected to form a parallelogram mechanism. The top ratchet teeth of the ratchet plate mate with the ratchet gear ring. In this configuration, the hinge joint between the first and third links is connected to a three-channel flexible cable traction mechanism via a first flexible cable, and the hinge joint between the second and third links is connected to a three-channel flexible cable traction mechanism via a second flexible cable. A left ratchet plate return spring is provided between the left end of the ratchet plate and the auxiliary limiting frame, and a right ratchet plate return spring is provided between the right end of the ratchet plate and the auxiliary limiting frame. The nut pressure plate is located inside the auxiliary limiting frame, and a pressure plate return spring is provided between the nut pressure plate and the auxiliary limiting frame. The nut pressure plate is connected to the three-channel flexible cable traction mechanism via a third flexible cable.

[0018] The beneficial effects of this utility model are: This utility model relates to a stepless pitch-adjustable nut tightening device for aviation equipment. While maintaining the basic function of nut tightening, it endows the tightening device with stepless pitch adjustment capability. Even if the distance between the nut installation point inside the cavity and the center point of the small cavity inlet is unevenly distributed along the circumference or the radial dimensions are different at different positions, the radial position of the nut tightening wrench can be dynamically changed through stepless pitch adjustment. This allows the nut tightening sleeve on the nut tightening wrench to be accurately moved to any nut installation point, thus enabling the tightening of nuts at different positions inside the cavity to be completed smoothly. This further expands the application scenarios of the tightening device and greatly improves its applicability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a continuously variable pitch nut tightening device for aviation equipment (with the nut tightening wrench in its maximum extended position and the nut tightening sleeve facing upwards) (view 1). Figure 2 This is a schematic diagram of the structure of a continuously variable pitch nut tightening device for aviation equipment (with the nut tightening wrench in the middle extended position and the nut tightening sleeve facing upwards) (view 1). Figure 3 This is a schematic diagram (perspective 2) of a continuously variable pitch nut tightening device for aviation equipment (the nut tightening wrench is in the middle extended position and the nut tightening sleeve is facing down). Figure 4 This is a schematic diagram of the structure of a continuously variable pitch nut tightening device for aviation equipment (with the nut tightening wrench in its minimum extended position and the nut tightening sleeve facing upwards) (viewpoint 3). Figure 5 This is a schematic diagram of the combined structure of the tightening machine and the horizontal adjustment mechanism (partial explosion) of this utility model; Figure 6 This is a schematic diagram of the adjustable-length tightening arm mechanism of this utility model; Figure 7 This is a schematic diagram of the combined structure of the rotary motor, rotary motor bracket, nut tightening force transmission sleeve, and rotary attitude adjustment and floating buffer mechanism (partial explosion) of this utility model. Figure 8 This is a schematic diagram of the continuously variable torque drive assembly (partially exploded) of the continuously variable torque actuator for wrenches according to this utility model; Figure 9 This is a schematic diagram of the combined structure of the stepless pitch adjustment component (partially exploded and adopting the first structural form) and the nut tightening wrench (nut tightening sleeve facing upward) of the wrench stepless pitch actuator of this utility model (view 1). Figure 10This is a schematic diagram of the combined structure of the stepless pitch adjustment component (adopting the first structural form) and the nut tightening wrench (nut tightening sleeve facing upward) of the wrench stepless pitch actuator of this utility model (viewpoint two). Figure 11 This is a partial structural diagram (view 3) of the assembly of the continuously variable pitch adjustment component (adopting the first structural form) of the continuously variable pitch actuator of the wrench of this utility model and the nut tightening wrench (nut tightening sleeve facing upward). Figure 12 This is a partial structural diagram (perspective four) of the assembly of the continuously variable pitch adjustment component (adopting the second structural form) of the continuously variable pitch actuator of the wrench of this utility model and the nut tightening wrench (nut tightening sleeve facing down). Figure 13 This is a partial structural schematic diagram (view 5) of the continuously variable pitch adjustment component (adopting the second structural form) of the continuously variable pitch actuator of the wrench of this utility model. Figure 14 This is a schematic diagram (partially exploded) of the nut tightening wrench of this utility model (adopting the first structural form); Figure 15 This is a schematic diagram (partially exploded) of the structure of the nut tightening wrench of this utility model (adopting the second structural form); Figure 16 This is a schematic diagram (initial state) showing the engagement of the nut tightening sleeve of this utility model with the left and right pawls; Figure 17 This is a schematic diagram showing the engagement of the nut tightening sleeve of this utility model with the left and right pawls (high torque tightening state); Figure 18 This is a schematic diagram showing the engagement of the nut tightening sleeve of this utility model with the left and right pawls (high torque relaxation state); Figure 19 This is a schematic diagram of the fit between the nut tightening sleeve and the ratchet plate of this utility model (nut in the forward tightening state); Figure 20 This is a schematic diagram of the fit between the nut tightening sleeve and the ratchet plate of this utility model (high torque tightening state); Figure 21 This is a schematic diagram of the fit between the nut tightening sleeve and the ratchet plate of this utility model (nut in reverse tightening state); Figure 22 This is a schematic diagram of the fit between the nut tightening sleeve and the ratchet plate of this utility model (high torque relaxation state); In the diagram, 1—tightening machine, 2—screwing motor, 3—screwing motor bracket, 4—nut tightening force transmission sleeve, 5—nut tightening wrench, 6—force transmission shaft, 7—three-channel flexible cable traction mechanism, 8—outer support frame, 9—inner support frame, 10—horizontal attitude adjustment motor, 11—horizontal attitude adjustment drive gear, 12—horizontal attitude adjustment driven gear, 13—horizontal attitude adjustment lead screw, 14—horizontal attitude adjustment nut, 15—horizontal attitude adjustment force transmission rod, 16—horizontal attitude adjustment slide rail, 17—horizontal attitude adjustment slider, 18—static tightening arm, 19—moving tightening arm, 20—boom guide slide rail, 21—boom guide slider, 22—boom sliding drive. 23—Motor; 24—Motor sliding drive gear; 25—Motor sliding driven gear; 26—Motor sliding lead screw; 27—Motor sliding lead screw nut; 28—Motor sliding force transmission frame; 29—Motor sliding support frame; 30—Motor support frame; 31—Floating buffer guide rail; 32—Floating buffer guide slider; 33—Continuously variable pitch drive motor; 34—Continuously variable pitch drive gear; 35—Continuously variable pitch driven gear; 36—Continuously variable pitch lead screw; 37—Continuously variable pitch lead screw nut; 38—Continuously variable pitch rail; 39—Continuously variable pitch slider; 40—Continuously variable pitch force transmission frame; 41—Continuously variable pitch force transmission rod. 42—Continuously variable pitch transmission block; 43—Drag chain; 44—Drag chain track frame; 45—Track frame lifting slide rail; 46—Track frame lifting slider; 47—Wrench auxiliary support telescopic arm; 48—Telescopic arm retraction and reset pull rope; 49—Telescopic arm retraction and reset tension spring; 50—Pull rope changing guide wheel assembly; 51—Changing guide wheel mounting seat; 52—Drag chain guide groove; 53—Drag chain guide roller; 54—Connecting shaft; 55—Universal coupling; 56—Roller groove; 57—Wrench guide roller; 58—Spring limit block; 59—Limit boss; 60—Housing; 61—Cap; 62—Input shaft; 63—Drive bevel gear 64—Driven bevel gear, 65—Input spur gear, 66—Output spur gear, 67—Nut tightening sleeve, 68—Sleeve limiting plate, 69—Auxiliary limiting bracket, 70—Left pawl, 71—Right pawl, 72—Nut pressure plate, 73—Transmission external gear ring, 74—Ratchet gear ring, 75—Left pawl return spring, 76—Right pawl return spring, 77—First flexible cable, 78—Second flexible cable, 79—Pressure plate return spring, 80—Third flexible cable, 81—Ratchet plate, 82—First connecting rod, 83—Second connecting rod, 84—Third connecting rod, 85—Left ratchet plate return spring, 86—Right ratchet plate return spring. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-22As shown, a continuously variable pitch (CVT) nut tightening device for aviation equipment includes a tightening machine 1, a horizontal attitude adjustment mechanism, a length-adjustable tightening arm mechanism, a rotary attitude adjustment and floating buffer mechanism, a rotary motor 2, a rotary motor bracket 3, a nut tightening force transmission sleeve 4, a continuously variable pitch wrench actuator, a nut tightening wrench 5, a force transmission shaft 6, and a three-channel flexible cable pulling mechanism 7. The tightening machine 1 is vertically mounted on the horizontal attitude adjustment mechanism. One end of the length-adjustable tightening arm mechanism is connected to the tightening machine 1, and the other end is connected to the rotary attitude adjustment and floating buffer mechanism. The nut tightening force transmission sleeve 4 is vertically mounted on the rotary attitude adjustment and floating buffer mechanism. The rotary motor 2 is vertically mounted... Above the rotary attitude adjustment and floating buffer mechanism, with the motor shaft facing downwards, the screw motor 2 is fixedly mounted on the top of the nut tightening force transmission sleeve 4 via the screw motor bracket 3; the wrench stepless torque actuator is set on the nut tightening force transmission sleeve 4; the nut screwing wrench 5 is set at the end of the wrench stepless torque actuator; the force transmission shaft 6 is coaxially inserted inside the nut tightening force transmission sleeve 4, the upper end of the force transmission shaft 6 is coaxially fixed to the motor shaft of the screw motor 2, and the lower end of the force transmission shaft 6 is drivenly connected to the nut screwing wrench 5 through the wrench stepless torque actuator; the three-channel flexible cable pulling mechanism 7 is fixedly mounted on the rotary attitude adjustment and floating buffer mechanism, and the three-channel flexible cable pulling mechanism 7 is drivenly connected to the nut screwing wrench 5.

[0022] The horizontal attitude adjustment mechanism includes an outer support frame 8, an inner support frame 9, a horizontal attitude adjustment motor 10, a horizontal attitude adjustment drive gear 11, a horizontal attitude adjustment driven gear 12, a horizontal attitude adjustment lead screw 13, a horizontal attitude adjustment nut 14, a horizontal attitude adjustment force transmission rod 15, a horizontal attitude adjustment slide rail 16, and a horizontal attitude adjustment slider 17. The horizontal attitude adjustment slide rail 16 is horizontally fixed to the inner surface of the outer support frame 8 and adopts a parallel multi-rail structure. The horizontal attitude adjustment slider 17 is slidably connected to the horizontal attitude adjustment slide rail 16. The inner support frame 9 is located inside the outer support frame 8 and is fixedly connected to the horizontal attitude adjustment slider 17. The horizontal attitude adjustment motor 10 is horizontally fixed to the outer side of the outer support frame 8. The horizontal attitude adjustment lead screw 13 is horizontally arranged on the outer support frame 8. Outside the support frame 8, the horizontal adjustment screw 13 is rotatably connected to the outer support frame 8 at both ends through bearing seats. The horizontal adjustment screw 13 is distributed parallel to the horizontal adjustment slide rail 16 and the motor shaft of the horizontal adjustment motor 10. The horizontal adjustment drive gear 11 is coaxially fixed on the motor shaft of the horizontal adjustment motor 10. The horizontal adjustment driven gear 12 is coaxially fixed on the end of the horizontal adjustment screw 13, and the horizontal adjustment driven gear 12 meshes with the horizontal adjustment drive gear 11. The horizontal adjustment nut 14 is fitted on the horizontal adjustment screw 13. One end of the horizontal adjustment force transmission rod 15 is fixedly connected to the horizontal adjustment nut 14, and the other end of the horizontal adjustment force transmission rod 15 is fixedly connected to the inner support frame 9. The tightening machine 1 is vertically fixed above the inner support frame 9.

[0023] The adjustable-length tightening arm mechanism includes a static tightening arm 18, a movable tightening arm 19, a boom guide rail 20, a boom guide slider 21, a boom sliding drive motor 22, a boom sliding drive gear 23, a boom sliding driven gear 24, a boom sliding lead screw 25, a boom sliding nut 26, and a boom sliding force transmission frame 27. The static tightening arm 18 is horizontally arranged, with one end fixedly connected to the power output shaft of the tightening machine 1, and the other end being a free end. The boom guide rail 20 is horizontally fixedly installed on the upper surface of the static tightening arm 18. The boom guide slider 21 is slidably connected to the boom guide rail 20. The movable tightening arm 19 is horizontally arranged above the static tightening arm 18 and the two are parallel to each other, with the lower surface of the movable tightening arm 19 fixedly connected to the boom guide slider 21. The boom sliding drive motor 22, a boom sliding drive motor 23, a boom sliding drive gear 24, a boom sliding drive motor 25, a boom sliding drive screw 26, and a boom sliding drive motor 27 are all included. The drive motor 22 is horizontally fixed below the stationary tightening arm 18; the boom sliding screw 25 is horizontally arranged below the stationary tightening arm 18, and both ends of the boom sliding screw 25 are rotatably connected to the stationary tightening arm 18 through bearing seats. The boom sliding screw 25 is distributed parallel to the boom guide rail 20 and the motor shaft of the boom sliding drive motor 22; the boom sliding drive gear 23 is coaxially fixed on the motor shaft of the boom sliding drive motor 22; the boom sliding driven gear 24 is coaxially fixed on the end of the boom sliding screw 25, and the boom sliding driven gear 24 meshes with the boom sliding drive gear 23; the boom sliding nut 26 is fitted on the boom sliding screw 25; one end of the boom sliding force transmission frame 27 is fixedly connected to the boom sliding nut 26, and the other end of the boom sliding force transmission frame 27 is fixedly connected to the moving tightening arm 19.

[0024] The rotary attitude adjustment and floating buffer mechanism includes a static support frame 28, a worm gear reducer motor 29, a moving support frame 30, a floating buffer guide rail 31, and a floating buffer guide slider 32. The static support frame 28 is vertically arranged, and its bottom end is fixedly connected to the upper surface of the moving tightening arm 19. The three-channel flexible cable pulling mechanism 7 is fixedly installed on the upright plate of the static support frame 28. The worm gear reducer motor 29 is fixedly installed on the upper surface of the top plate of the static support frame 28. The worm gear discs inside the worm gear reducer motor 29 are horizontally distributed, and the worm gear shaft is a hollow shaft. The force transmission shaft 6 passes through the central hole of the worm gear shaft. The top plate of the moving support frame 30 is rotatably connected to the top plate of the static support column 28 through bearings. The base plate is rotatably connected to the movable tightening arm 19 via bearings; the screw motor bracket 3 vertically passes through the worm gear disk of the worm gear reducer motor 29 and extends downward to below the top plate of the movable support frame 30; the nut tightening force transmission sleeve 4 vertically passes through the base plate of the movable support frame 30 and is fixedly connected to the screw motor bracket 3 above; a floating buffer support spring is provided between the nut tightening force transmission sleeve 4 and the base plate of the movable support frame 30; the floating buffer guide slide rail 31 is vertically fixed on the outer surface of the nut tightening force transmission sleeve 4 and is located above the base plate of the movable support frame 30; the floating buffer guide slider 32 is slidably connected to the floating buffer guide slide rail 31; the vertical plate of the movable support frame 30 is fixedly connected to the floating buffer guide slider 32.

[0025] The continuously variable torque actuator of the wrench includes a continuously variable torque drive assembly and a continuously variable torque adjustment assembly, with the continuously variable torque adjustment assembly located below the continuously variable torque drive assembly. The continuously variable torque drive assembly includes a continuously variable torque drive motor 33, a continuously variable torque drive gear 34, a continuously variable torque driven gear 35, a continuously variable torque screw 36, a continuously variable torque nut 37, a continuously variable torque slide rail 38, a continuously variable torque slider 39, a continuously variable torque transmission frame 40, a continuously variable torque transmission rod 41, and a continuously variable torque transmission block 42. The continuously variable torque drive motor 33 is vertically fixed to the outer surface of the nut tightening force transmission sleeve 4. The continuously variable torque screw 36 is vertically disposed on the outer surface of the nut tightening force transmission sleeve 4, and its two ends are rotatably connected to the nut tightening force transmission sleeve 4 through bearing seats. The continuously variable torque drive gear 34 is coaxial. The continuously variable transmission rod 35 is fixedly mounted on the motor shaft of the continuously variable transmission drive motor 33; the continuously variable driven gear 35 is coaxially fixedly mounted on the end of the continuously variable lead screw 36, and the continuously variable driven gear 35 meshes with the continuously variable driving gear 34; the continuously variable nut 37 is fitted on the continuously variable lead screw 36; the continuously variable force transmission frame 40 is fixedly connected to the continuously variable nut 37; the continuously variable slide rail 38 is vertically fixedly mounted on the outer surface of the nut tightening force transmission sleeve 4; the continuously variable slider 39 is slidably connected to the continuously variable slide rail 38, and the continuously variable slider 39 is fixedly connected to the continuously variable force transmission frame 40; the continuously variable force transmission rod 41 is vertically arranged, the top end of the continuously variable force transmission rod 41 is fixedly connected to the continuously variable force transmission frame 40, and the continuously variable force transmission block 42 is fixedly installed at the bottom end of the continuously variable force transmission rod 41.

[0026] The continuously variable pitch adjustment assembly includes a cable chain 43, a cable chain track frame 44, a track frame lifting slide rail 45, a track frame lifting slider 46, a wrench-assisted telescopic arm 47, a telescopic arm retraction and reset pull rope 48, a telescopic arm retraction and reset spring 49, a pull rope guide wheel assembly 50, and a guide wheel mounting base 51. The track frame lifting slide rail 45 is vertically fixed to the outer surface of the nut tightening force transmission sleeve 4. The track frame lifting slider 46 is slidably connected to the track frame lifting slide rail 45. The top end of the cable chain track frame 44 is fixedly connected to the track frame lifting slider 46. The continuously variable pitch force transmission block 42 is connected to the cable chain track frame. 44. The top end is fixedly connected; one end of the drag chain 43 is hinged to the bottom end of the nut tightening force transmission sleeve 4, and the nut tightening wrench 5 is hinged to the other end of the drag chain 43; a drag chain guide groove 52 is provided on the drag chain track frame 44, the upper end of the drag chain guide groove 52 is vertically oriented, and the lower end of the drag chain guide groove 52 is horizontally oriented; a drag chain guide roller 53 is provided on the outside of each link hinge point of the drag chain 43, and the drag chain guide roller 53 is located in the drag chain guide groove 52; a connecting shaft 54 ​​is rotatably provided in the middle of each link of the drag chain 43, and adjacent connecting shafts 54 are connected between each other. All are connected via universal couplings 55, and the bottom end of the force transmission shaft 6 is also connected to the connecting shaft 54 ​​on the last link of the drag chain 43, and the connecting shaft 54 ​​on the first link of the drag chain 43 is also connected to the nut tightening wrench 5 via universal couplings 55; the reversing guide wheel mounting base 51 is fixedly installed at the bottom of the drag chain track frame 44, and the pull rope reversing guide wheel assembly 50 is set on the reversing guide wheel mounting base 51; the rear end of the last stage arm of the wrench auxiliary support telescopic arm 47 is fixedly connected to the reversing guide wheel mounting base 51, and the inner side of the front end of the first stage arm of the wrench auxiliary support telescopic arm 47 is provided with a roller groove 56; The nut tightening wrench 5 is equipped with a wrench guide roller 57; when the nut tightening wrench 5 extends out of the lower end of the drag chain guide groove 52, the wrench guide roller 57 and the outermost drag chain guide roller 53 on the last link of the drag chain 43 are both located in the roller groove 56; the upper end of the telescopic arm retraction reset spring 49 is fixedly connected to the stepless pitch transmission block 42, the telescopic arm retraction reset spring 49 is fixedly connected to one end of the telescopic arm retraction reset pull rope 48, and the other end of the telescopic arm retraction reset pull rope 48 passes through the pull rope reversing guide wheel assembly 50 and is fixedly connected to the rear end of the first stage arm of the wrench auxiliary support telescopic arm 47.

[0027] The continuously variable pitch adjustment assembly also includes another structural form, which includes a cable chain 43, a cable chain track frame 44, a track frame lifting slide rail 45, and a track frame lifting slider 46; the track frame lifting slide rail 45 is vertically fixed to the outer surface of the nut tightening force transmission sleeve 4; the track frame lifting slider 46 is slidably connected to the track frame lifting slide rail 45; the top end of the cable chain track frame 44 is fixedly connected to the track frame lifting slider 46, and the continuously variable pitch force transmission block 42 is fixedly connected to the top end of the cable chain track frame 44; one end of the cable chain 43 is hinged to the bottom end of the nut tightening force transmission sleeve 4, and the nut tightening wrench 5 is hinged. Connected to the other end of the cable chain 43; the cable chain track frame 44 adopts an L-shaped structure, and a cable chain guide groove 52 is provided on the cable chain track frame 44. The cable chain guide groove 52 also adopts an L-shaped structure, with the L-shaped longitudinal groove of the cable chain guide groove 52 facing vertically and the L-shaped transverse groove of the cable chain guide groove 52 facing horizontally; a cable chain guide roller 53 is provided on the outside of each link hinge point of the cable chain 43, and the cable chain guide roller 53 is located in the cable chain guide groove 52; a wrench guide roller 57 is provided on the nut tightening wrench 5; a connecting shaft 54 ​​is rotatably provided in the middle of each link of the cable chain 43, and adjacent connecting shafts 54 are connected by a through-hole. The chain is connected via universal coupling 55, and the bottom end of the transmission shaft 6 is connected to the connecting shaft 54 ​​on the last link of the drag chain 43, and the connecting shaft 54 ​​on the first link of the drag chain 43 is also connected to the nut tightening wrench 5 via universal coupling 55. A spring-loaded limiting block 58 is provided on the side of each link end, and a limiting boss 59 is provided on the side of the spring-loaded limiting block 58. The surface of the limiting boss 59 is flat, and the end face of the link adjacent to the spring-loaded limiting block 58 and the hinged end face of the nut tightening wrench 5 are also flat. The L-shaped crossarm of the drag chain track frame 44 adopts a variable thickness structure, with the rear half of the L-shaped crossarm having a thickness of... The thickness is greater than the thickness of the first half of the arm body; when the spring limiting top block 58 is located at the rear half of the L-shaped cross arm of the drag chain track frame 44, the limiting boss 59 of the spring limiting top block 58 is offset from the end face of the adjacent chain link; when the spring limiting top block 58 is located at the front half of the L-shaped cross arm of the drag chain track frame 44 or extends into the L-shaped longitudinal groove of the drag chain guide slide 52, the limiting boss 59 of the spring limiting top block 58 is in contact with the end face of the adjacent chain link or the hinged end face of the nut tightening wrench 5 to form a mutually locking limiting structure, so that the nut tightening wrench 5 and the chain link extending into the L-shaped longitudinal groove of the drag chain guide slide 52 are both kept in a horizontal state.

[0028] The nut tightening wrench 5 includes a housing 60, a cover 61, an input shaft 62, a driving bevel gear 63, a driven bevel gear 64, an input spur gear 65, an output spur gear 66, a nut tightening sleeve 67, a sleeve limiting plate 68, an auxiliary limiting bracket 69, a left pawl 70, a right pawl 71, and a nut pressure plate 72. The end of the housing 60 is hinged to the cable chain 43. The input shaft 62 is rotatably connected to the housing 60 via a bearing seat, and the rear end of the input shaft 62 is connected to the connecting shaft 54 ​​on the first link of the cable chain 43 via a universal coupling 55. The driving bevel gear 63 is coaxially fixed to the front end of the input shaft 62. The driven bevel gear... The driven bevel gear 64 and the input spur gear 65 are coaxially rotatably disposed within the housing 60, and the driven bevel gear 64 meshes with the driving bevel gear 63; the output spur gear 66 is rotatably disposed within the housing 60, and the output spur gear 66 meshes with the input spur gear 65; the nut tightening sleeve 67 is disposed within the housing 60 via a sleeve limiting piece 68, and the nut tightening sleeve 67 has only rotational freedom within the housing 60; a transmission external gear ring 73 and a ratchet gear ring 74 are respectively provided axially on the outer surface of the nut tightening sleeve 67, and the transmission external gear ring 73 meshes with the output spur gear 66; the cover 61 is fixedly connected to the housing 60, and the housing 60 The driving bevel gear 63, driven bevel gear 64, input spur gear 65, output spur gear 66, and the transmission external gear ring 73 on the outer surface of the nut tightening sleeve 67 are sealed by a cover 61. A sleeve through hole is provided on the housing 60 opposite to the nut tightening sleeve 67. The auxiliary limiting frame 69 is fixedly installed on the housing 60 outside the sleeve through hole. The ratchet gear ring 74 is located inside the auxiliary limiting frame 69. The inner surface of the nut tightening sleeve 67 is provided with a dodecagonal hole, which is used to cooperate with the nut to be tightened. The left pawl 70 and the right pawl 71 are mirror-symmetrically arranged inside the auxiliary limiting frame 69. The root of the pawl 71 is hinged to the auxiliary limiting frame 69. The top ratchet teeth of the left pawl 70 and the right pawl 71 are used in conjunction with the ratchet tooth ring 74. The left pawl 70 and the right pawl 71 are respectively provided with a left pawl return spring 75 and a right pawl return spring 76 between them and the auxiliary limiting frame 69. The left pawl 70 and the right pawl 71 are respectively connected to the three-channel flexible cable pulling mechanism 7 through the first flexible cable 77 and the second flexible cable 78. The nut pressure plate 72 is set inside the auxiliary limiting frame 69. A pressure plate return spring 79 is provided between the nut pressure plate 72 and the auxiliary limiting frame 69. The nut pressure plate 72 is connected to the three-channel flexible cable pulling mechanism 7 through the third flexible cable 80.

[0029] The nut tightening wrench 5 also includes another structural form, comprising a housing 60, a cover 61, an input shaft 62, a driving bevel gear 63, a driven bevel gear 64, an input spur gear 65, an output spur gear 66, a nut tightening sleeve 67, a sleeve limiting plate 68, an auxiliary limiting frame 69, a ratchet plate 81, a first connecting rod 82, a second connecting rod 83, a third connecting rod 84, and a nut pressure plate 72; the end of the housing 60 is hinged to the cable chain 43; the input shaft 62 is rotatably connected to the housing 60 through a bearing seat, and the rear end of the input shaft 62 is connected to the connecting shaft 54 ​​on the first link of the cable chain 43 through a universal coupling 55; the driving bevel gear 63 is coaxially fixed to the front end of the input shaft 62; The driven bevel gear 64 and the input spur gear 65 are coaxially rotatably disposed within the housing 60, with the driven bevel gear 64 meshing with the driving bevel gear 63; the output spur gear 66 is rotatably disposed within the housing 60, with the output spur gear 66 meshing with the input spur gear 65; the nut tightening sleeve 67 is disposed within the housing 60 via a sleeve limiting piece 68, and the nut tightening sleeve 67 has only rotational freedom within the housing 60; a transmission external gear ring 73 and a ratchet gear ring 74 are respectively disposed axially on the outer surface of the nut tightening sleeve 67, with the transmission external gear ring 73 meshing with the output spur gear 66; the cover 61 is fixedly connected to the housing 60, and the driving bevel gear 63 and the driven bevel gear 65 within the housing 60 are connected. The bevel gear 64, the input spur gear 65, the output spur gear 66, and the transmission external gear ring 73 on the outer surface of the nut tightening sleeve 67 are sealed by the cover 61. A sleeve through hole is provided on the housing 60 opposite to the nut tightening sleeve 67. The auxiliary limiting frame 69 is fixedly installed on the housing 60 outside the sleeve through hole. The ratchet gear ring 74 is located inside the auxiliary limiting frame 69. The inner surface of the nut tightening sleeve 67 is provided with a dodecagonal hole, which is used to cooperate with the nut to be tightened. The ratchet plate 81, the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 are arranged inside the auxiliary limiting frame 69 and connected to form a parallelogram mechanism. The top ratchet of the ratchet plate 81 and the ratchet gear ring 74 are used in conjunction with each other. The hinge joint of the first link 82 and the third link 84 is connected to the three-channel flexible cable traction mechanism 7 through the first flexible cable 77. The hinge joint of the second link 83 and the third link 84 is connected to the three-channel flexible cable traction mechanism 7 through the second flexible cable 78. A left ratchet plate return spring 85 is provided between the left end of the ratchet plate 81 and the auxiliary limiting frame 69, and a right ratchet plate return spring 86 is provided between the right end of the ratchet plate 81 and the auxiliary limiting frame 69. The nut pressure plate 72 is set inside the auxiliary limiting frame 69, and a pressure plate return spring 79 is provided between the nut pressure plate 72 and the auxiliary limiting frame 69. The nut pressure plate 72 is connected to the three-channel flexible cable traction mechanism 7 through the third flexible cable 80.

[0030] The following describes a single use of this utility model with reference to the accompanying drawings: First, the continuously variable pitch aircraft equipment nut tightening device of this utility model is assembled with a robotic arm as an end effector. The area covered by the robotic arm is divided into an assembly area and a parts area, and the nuts to be installed are stored in the parts area.

[0031] In the initial state, the nut tightening wrench 5 is in the middle extended position. First, the mechanical arm moves the stepless variable pitch aircraft equipment nut tightening device of this utility model to the parts area. Then, the nut is sent into the dodecagonal hole of the nut tightening sleeve 67. At the same time, the three-channel flexible cable pulling mechanism 7 is activated to release the third flexible cable 80. Under the pushing force of the pressure plate return spring 79, the nut will be pressed and fixed on the nut tightening wrench 5 by the nut pressure plate 72.

[0032] After the nut is clamped and fixed on the nut tightening wrench 5, the continuously variable transmission drive motor 33 is started, driving the continuously variable transmission drive gear 34 to rotate, which in turn drives the continuously variable transmission driven gear 35 to rotate, until it drives the continuously variable transmission screw 36 to rotate. The rotational motion of the continuously variable transmission screw 36 is synchronously converted into the linear motion of the continuously variable transmission nut 37, causing the continuously variable transmission nut 37 to move downward along the continuously variable transmission screw 36. At this time, the continuously variable transmission slider 39 and the continuously variable transmission... The force frame 40 will move downward along the continuously variable pitch slide rail 38 in sync, thereby driving the continuously variable pitch transmission rod 41 and the continuously variable pitch transmission block 42 to move downward, and finally driving the drag chain track frame 44 and the track frame lifting slider 46 to move downward along the track frame lifting slide rail 45. As the track frame lifting slide rail 45 moves downward, the drag chain 43 will retract into the drag chain track frame 44 in sync, until the nut tightening wrench 5 retracts into the drag chain track frame 44 along with the drag chain 43 to the minimum extended position.

[0033] If the continuously variable pitch adjustment assembly adopts the first structural form, then during the process of the cable chain 43 retracting to the cable chain track frame 44, the spring force generated by the telescopic arm retraction reset spring 49 will be converted into the tension of the telescopic arm retraction reset rope 48, and then the wrench auxiliary support telescopic arm 47 will be pulled back to the fully retracted state through the telescopic arm retraction reset rope 48.

[0034] After the nut tightening wrench 5 is adjusted to its minimum extension position, the stepless variable pitch aircraft equipment nut tightening device of this utility model is moved to the assembly area by the robotic arm. At the same time, the tightening machine 1 is positioned above the screw in the cavity. Then, the horizontal attitude adjustment motor 10 is started, which drives the horizontal attitude adjustment drive gear 11 to rotate, and then drives the horizontal attitude adjustment driven gear 12 meshing with it to rotate, until the horizontal attitude adjustment screw 13 rotates. The rotational motion of the horizontal attitude adjustment screw 13 is synchronously converted into the linear motion of the horizontal attitude adjustment nut 14, so that the horizontal attitude adjustment nut 14 moves linearly along the horizontal attitude adjustment screw 13. At this time, the horizontal attitude adjustment force transmission rod 15, the horizontal attitude adjustment slider 17 and the inner support frame 9 will move horizontally along the horizontal attitude adjustment slide rail 16 in sync, and cooperate with the robotic arm to make precise adjustments to the position of the tightening machine 1 until the power output shaft of the tightening machine 1 is coaxial with the screw at the nut to be installed in the cavity.

[0035] After the position of the tightening machine 1 is adjusted, the boom sliding drive motor 22 is started, which drives the boom sliding drive gear 23 to rotate, and then drives the boom sliding driven gear 24 that meshes with it to rotate, until the boom sliding screw 25 rotates. The rotational motion of the boom sliding screw 25 will be synchronously converted into the linear movement of the boom sliding nut 26. At this time, the boom sliding force transmission frame 27, the moving tightening arm 19 and the boom guide slider 21 will move horizontally along the boom guide slide rail 20 until the nut tightening wrench 5, which is in the minimum extension position, moves to directly above the small cavity inlet.

[0036] When the nut tightening wrench 5 moves directly above the small cavity inlet, the mechanical arm drives the entire continuously variable pitch aircraft equipment nut tightening device of this utility model to fall down until the nut tightening wrench 5, which is in the minimum extension position, passes through the small cavity inlet and enters the cavity.

[0037] When the nut tightening wrench 5, in its minimum extended position, enters the cavity, the continuously variable transmission drive motor 33 is restarted, driving the continuously variable transmission drive gear 34 to rotate, which in turn drives the continuously variable transmission driven gear 35 to rotate, until it drives the continuously variable transmission screw 36 to rotate. The rotational motion of the continuously variable transmission screw 36 is synchronously converted into the linear motion of the continuously variable transmission nut 37, causing the continuously variable transmission nut 37 to move upward along the continuously variable transmission screw 36. At this time, the continuously variable transmission slider 39 and the continuously variable transmission... The variable pitch transmission frame 40 will move upward along the continuously variable pitch slide rail 38 in sync, thereby driving the continuously variable pitch transmission rod 41 and the continuously variable pitch transmission block 42 to move upward, and finally driving the drag chain track frame 44 and the track frame lifting slider 46 to move upward along the track frame lifting slide rail 45. As the track frame lifting slide rail 45 moves upward, the drag chain 43 will extend out from the drag chain track frame 44 in sync until the nut tightening sleeve 67 on the nut tightening wrench 5 moves to the top of the screw at the nut to be installed in the cavity.

[0038] If the continuously variable pitch adjustment assembly adopts the first structural form, during the extension of the cable chain 43 out of the cable chain track frame 44, the nut tightening wrench 5 will simultaneously extend out of the cable chain track frame 44 and drive the wrench auxiliary support telescopic arm 47 to extend accordingly. During the extension of the wrench auxiliary support telescopic arm 47, a reverse pulling force will be generated on the telescopic arm retraction reset rope 48, which will then stretch the telescopic arm retraction reset spring 49 through the telescopic arm retraction reset rope 48 and accumulate spring force, preparing for the next retraction of the nut tightening wrench 5 to drive the wrench auxiliary support telescopic arm 47 to retract and reset. In addition, the purpose of the follow-up extension and retraction of the wrench auxiliary support telescopic arm 47 and the nut tightening wrench 5 is mainly to ensure that the nut tightening wrench 5 always maintains a horizontal posture when extended.

[0039] If the continuously variable pitch adjustment assembly adopts the second structural form, during the process of the drag chain 43 extending out of the drag chain track frame 44, when the spring limiting block 58 on the side of the end of the drag chain 43 link moves from the rear half of the L-shaped cross arm of the drag chain track frame 44 to the front half, the spring limiting block 58 will pop out from the side of the end of the drag chain 43 link because the thickness of the L-shaped cross arm changes from thick to thin. At this time, the limiting boss 59 on the side of the spring limiting block 58 will fit with the end face of the adjacent link or the hinged end face of the nut tightening wrench 5 to form a mutually locking limiting structure, which can ensure that the drag chain 43 link and the nut tightening wrench 5 always maintain a horizontal posture when extended.

[0040] When the nut tightening sleeve 67 on the nut tightening wrench 5 moves to the top of the screw at the location where the nut is to be installed in the cavity, the worm gear reducer motor 29 is started. The rotating worm gear drives the tightening motor bracket 3 to rotate, which in turn drives the tightening motor 2 and the nut tightening force transmission sleeve 4 connected to it to rotate synchronously until the nut tightening wrench 5 is adjusted to adjust its rotation position, so that the nut tightening sleeve 67 and the screw at the location where the nut is to be installed in the cavity remain coaxial.

[0041] Once the nut tightening sleeve 67 is coaxial with the screw rod at the location of the nut to be installed in the cavity, the robotic arm drives the continuously variable pitch aircraft equipment nut tightening device of this utility model to continue falling until the nut clamped and fixed on the nut tightening wrench 5 accurately falls to the top of the screw rod. The instantaneous impact force that the nut receives when it falls to the top of the screw rod is directly offset by the floating buffer support spring between the nut tightening force transmission sleeve 4 and the base plate of the moving support frame 30, thus avoiding the occurrence of hard impact.

[0042] After the nut falls to the top of the screw, the three-channel flexible cable pulling mechanism 7 is activated to reel in the third flexible cable 80. The third flexible cable 80 pulls the nut pressure plate 72 away from the nut, and the pressure plate return spring 79 returns to the compressed state.

[0043] If the nut tightening wrench 5 adopts the first structural form, after the nut pressure plate 72 is pulled away from the nut, the three-channel flexible cable pulling mechanism 7 is activated to reel in the first flexible cable 77 and the second flexible cable 78, pulling the left pawl 70 and the right pawl 71 away from the ratchet ring 74. The left pawl return spring 75 and the right pawl return spring 76 are in a compressed and stored state. Then, the tightening motor 2 drives the force transmission shaft 6 to rotate, which drives the input shaft 62 of the nut tightening wrench 5 to rotate through the interlocking universal coupling 55 and the connecting shaft 54. This sequentially drives the driving bevel gear 63, driven bevel gear 64, input spur gear 65, and output spur gear 66 to rotate. The rotating output spur gear 66 then drives the meshing external gear ring 73 to rotate, ultimately driving the nut tightening sleeve 67 to rotate. The rotating nut tightening sleeve 67 then drives the nut in the dodecagonal hole to rotate, thus tightening the nut on the screw. During the tightening process, the nut tightening wrench 5 moves along the screw axis under the control of the robotic arm until the nut is tightened to the correct position.

[0044] After the nut is screwed into place on the screw, the three-channel flexible cable pulling mechanism 7 is activated to release the first flexible cable 77. Under the thrust of the left pawl return spring 75, the ratchet at the top of the left pawl 70 will engage with the ratchet ring 74 on the nut tightening sleeve 67. Then, the tightening machine 1 is started in the forward direction. The power output shaft of the tightening machine 1 drives the entire continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to rotate. This rotational motion will be synchronously converted into the rotational motion of the nut tightening wrench 5. Finally, the nut is tightened with a high torque through the rotational motion of the nut tightening wrench 5.

[0045] After the nut is tightened to a high torque, according to the process requirements, the nut needs to be loosened after the first tightening before being tightened again. Therefore, in order to meet the process requirements, the three-channel flexible cable pulling mechanism 7 is first started to take in the first flexible cable 77. The first flexible cable 77 pulls the left pawl 70 away from the ratchet tooth ring 74, and the left pawl return spring 75 returns to the compressed state. At the same time, the second flexible cable 78 is released. Under the pushing action of the right pawl return spring 76, the top ratchet of the right pawl 71 will engage with the ratchet tooth ring 74 on the nut tightening sleeve 67. Then, the tightening machine 1 is started in reverse. The power output shaft of the tightening machine 1 drives the entire continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to swing. This swing motion will be synchronously converted into the swing motion of the nut tightening wrench 5. Finally, the nut is loosened to a high torque through the swing motion of the nut tightening wrench 5.

[0046] After the nut has been loosened to high torque, the three-channel flexible cable pulling mechanism 7 is activated under process requirements to take in the second flexible cable 78. The second flexible cable 78 pulls the right pawl 71 away from the ratchet ring 74, and the right pawl return spring 76 returns to its compressed state. At the same time, the first flexible cable 77 is released. Under the thrust of the left pawl return spring 75, the top ratchet of the left pawl 70 will engage with the ratchet ring 74 on the nut tightening sleeve 67. Then, the tightening machine 1 is started in the forward direction. The power output shaft of the tightening machine 1 drives the entire continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to rotate. This rotational motion is synchronously converted into the rotational motion of the nut tightening wrench 5. Finally, the rotational motion of the nut tightening wrench 5 applies high torque to tighten the nut, thereby achieving secondary tightening of the nut.

[0047] After the nut completes the process of "tightening → loosening → tightening", the three-channel flexible cable pulling mechanism 7 is activated to reel in the first flexible cable 77. The first flexible cable 77 pulls the left pawl 70 away from the ratchet ring 74, and the left pawl return spring 75 returns to the compressed state. At this time, both the left pawl 70 and the right pawl 71 are in the state of being disengaged from the ratchet ring 74. Then, the nut tightening wrench 5 is removed, so that the tightened nut is disengaged from the twelve-cornered hole of the nut tightening sleeve 67.

[0048] After the nut tightening wrench 5 is removed from the tightened nut, the nut tightening wrench 5 is readjusted to the minimum extension position, and then the nut tightening wrench 5 is withdrawn from the small cavity inlet. After that, the nut tightening wrench 5 is returned to the middle extension position. Finally, the robotic arm moves the continuously variable pitch aircraft equipment nut tightening device of this utility model back to the parts area, repeats the picking of the first nut, and refers to the installation process of the first nut to complete the installation and tightening of the subsequent nuts.

[0049] If the nut tightening wrench 5 adopts the second structural form, after the nut pressure plate 72 is pulled away from the nut, the three-channel flexible cable pulling mechanism 7 is activated to release the first flexible cable 77 and simultaneously retract the second flexible cable 78. The second flexible cable 78 pulls the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 to the right limit position. Then, the tightening motor 2 is activated, driving the force transmission shaft 6 to rotate. Through the interlocking universal coupling 55 and the connecting shaft 54, the input shaft 62 of the nut tightening wrench 5 rotates, further... The drive bevel gear 63, driven bevel gear 64, input spur gear 65, and output spur gear 66 rotate sequentially. The rotating output spur gear 66 then drives the meshing external gear ring 73 to rotate, ultimately rotating the nut-tightening sleeve 67. The rotating nut-tightening sleeve 67 then rotates the nut within the dodecagonal hole, thus tightening the nut on the screw. During the tightening process, the nut tightening wrench 5 moves along the screw axis under the control of the robotic arm until the nut is fully tightened. During the rotation of the nut-tightening sleeve 67, the left ratchet return spring 85 intermittently compresses the ratchet plate 81, and the right ratchet return spring 86 intermittently stretches it. The parallelogram mechanism formed by the ratchet plate 81, the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 is in a flexible deformation state, and the ratchet plate 81 does not rigidly obstruct the ratchet ring 74.

[0050] Once the nut is screwed into place on the screw, the tightening machine 1 is started in the forward direction. The power output shaft of the tightening machine 1 drives the entire continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to rotate. This rotational motion is synchronously converted into the rotational motion of the nut tightening wrench 5, ultimately applying a high torque to tighten the nut through the rotational motion of the nut tightening wrench 5. During the process of applying a high torque to tighten the nut, the parallelogram mechanism formed by the ratchet plate 81, the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 is in a rigid limiting state, and the ratchet plate 81 and the ratchet ring 74 are in a rigid locked state.

[0051] After the nut is tightened to a high torque, according to process requirements, it needs to be loosened before a second tightening. Therefore, to meet these requirements, the three-channel flexible cable pulling mechanism 7 is activated to reel in the first flexible cable 77 and simultaneously release the second flexible cable 78. The first flexible cable 77 pulls the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 to the left limit position. Then, the tightening machine 1 is activated in reverse. The power output shaft of the tightening machine 1 drives the continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to rotate. This rotational motion is simultaneously converted into the rotational motion of the nut tightening wrench 5, ultimately loosening the nut to a high torque through the rotational motion of the nut tightening wrench 5. During this high-torque loosening process, the parallelogram mechanism formed by the ratchet plate 81, the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 is in a rigid limit state, and the ratchet plate 81 and the ratchet ring 74 are in a rigid locked state.

[0052] After the nut has been loosened to the maximum torque, the three-channel flexible cable pulling mechanism 7 is activated under process requirements to release the first flexible cable 77 and simultaneously retract the second flexible cable 78. The second flexible cable 78 then pulls the first connecting rod 82, the second connecting rod 83, and the third connecting rod 84 back to the right limit. After that, the tightening machine 1 is started again in the forward direction. The power output shaft of the tightening machine 1 drives the continuously variable pitch aircraft equipment nut tightening device (excluding the horizontal attitude adjustment mechanism) to rotate. This rotational motion is synchronously converted into the rotational motion of the nut tightening wrench 5. Finally, the nut is tightened to the maximum torque through the rotational motion of the nut tightening wrench 5, thus achieving the secondary tightening of the nut.

[0053] Once the nut has completed the process of "tightening → loosening → tightening again", directly control the nut tightening wrench 5 to remove it, so that the tightened nut is disengaged from the dodecagonal hole of the nut tightening sleeve 67.

[0054] After the nut tightening wrench 5 is removed from the tightened nut, the nut tightening wrench 5 is readjusted to the minimum extension position, and then the nut tightening wrench 5 is withdrawn from the small cavity inlet. After that, the nut tightening wrench 5 is returned to the middle extension position. Finally, the robotic arm moves the continuously variable pitch aircraft equipment nut tightening device of this utility model back to the parts area, repeats the picking of the first nut, and refers to the installation process of the first nut to complete the installation and tightening of the subsequent nuts.

[0055] The solutions in the embodiments are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications that do not depart from the scope of protection of this utility model are included in the scope of protection of this utility model.

Claims

1. A continuously variable pitch nut tightening device for aviation equipment, characterized in that: The system includes a tightening machine, a horizontal adjustment mechanism, a length-adjustable tightening arm mechanism, a rotary adjustment and floating buffer mechanism, a rotary tightening motor, a rotary tightening motor bracket, a nut tightening force transmission sleeve, a wrench stepless torque actuator, a nut tightening wrench, a force transmission shaft, and a three-channel flexible cable pulling mechanism. The tightening machine is vertically mounted on the horizontal adjustment mechanism. One end of the length-adjustable tightening arm mechanism is connected to the tightening machine, and the other end is connected to the rotary adjustment and floating buffer mechanism. The nut tightening force transmission sleeve is vertically mounted on the rotary adjustment and floating buffer mechanism. The rotary tightening motor is vertically mounted on the rotary adjustment and floating buffer mechanism. Above the mechanism with the motor shaft facing downwards, the screw-tightening motor is fixedly mounted on the top of the nut tightening force transmission sleeve via a screw-tightening motor bracket; the continuously variable torque actuator of the wrench is set on the nut tightening force transmission sleeve; the nut tightening wrench is set at the end of the continuously variable torque actuator of the wrench; the force transmission shaft is coaxially inserted inside the nut tightening force transmission sleeve, the upper end of the force transmission shaft is coaxially fixed to the motor shaft of the screw-tightening motor, and the lower end of the force transmission shaft is drivenly connected to the nut tightening wrench through the continuously variable torque actuator of the wrench; the three-channel flexible cable traction mechanism is fixedly mounted on the rotary attitude adjustment and floating buffer mechanism, and the three-channel flexible cable traction mechanism is drivenly connected to the nut tightening wrench.

2. The continuously variable pitch nut tightening device for aviation equipment according to claim 1, characterized in that: The horizontal attitude adjustment mechanism includes an outer support frame, an inner support frame, a horizontal attitude adjustment motor, a horizontal attitude adjustment drive gear, a horizontal attitude adjustment driven gear, a horizontal attitude adjustment lead screw, a horizontal attitude adjustment nut, a horizontal attitude adjustment force transmission rod, a horizontal attitude adjustment slide rail, and a horizontal attitude adjustment slider. The horizontal attitude adjustment slide rail is horizontally fixed to the inner surface of the outer support frame and adopts a parallel multi-rail structure. The horizontal attitude adjustment slider is slidably connected to the horizontal attitude adjustment slide rail. The inner support frame is located inside the outer support frame and is fixedly connected to the horizontal attitude adjustment slider. The horizontal attitude adjustment motor is horizontally fixed to the outer side of the outer support frame. The horizontal attitude adjustment lead screw is horizontally arranged on the outer support frame. On the outside of the frame, the two ends of the horizontal attitude adjustment screw are rotatably connected to the outer support frame through bearing seats. The horizontal attitude adjustment screw, the horizontal attitude adjustment slide rail, and the motor shaft of the horizontal attitude adjustment motor are distributed parallel to each other. The horizontal attitude adjustment drive gear is coaxially fixed on the motor shaft of the horizontal attitude adjustment motor. The horizontal attitude adjustment driven gear is coaxially fixed on the end of the horizontal attitude adjustment screw, and the horizontal attitude adjustment driven gear meshes with the horizontal attitude adjustment drive gear. The horizontal attitude adjustment nut is fitted on the horizontal attitude adjustment screw. One end of the horizontal attitude adjustment force transmission rod is fixedly connected to the horizontal attitude adjustment nut, and the other end of the horizontal attitude adjustment force transmission rod is fixedly connected to the inner support frame. The tightening machine is vertically fixed above the inner support frame.

3. The continuously variable pitch nut tightening device for aviation equipment according to claim 1, characterized in that: The adjustable-length tightening arm mechanism includes a static tightening arm, a movable tightening arm, a movable arm guide rail, a movable arm guide slider, a movable arm sliding drive motor, a movable arm sliding drive gear, a movable arm sliding driven gear, a movable arm sliding screw, a movable arm sliding nut, and a movable arm sliding force transmission frame. The static tightening arm is horizontally positioned, with one end fixedly connected to the power output shaft of the tightening machine, and the other end being a free end. The movable arm guide rail is horizontally fixedly mounted on the upper surface of the static tightening arm. The movable arm guide slider is slidably connected to the movable arm guide rail. The movable tightening arm is horizontally positioned above the static tightening arm, and the two are parallel to each other. The lower surface of the movable tightening arm is fixedly connected to the movable arm guide slider. The movable arm sliding drive motor... The moving motor is horizontally fixed below the stationary tightening arm; the moving arm sliding screw is horizontally arranged below the stationary tightening arm, and both ends of the moving arm sliding screw are rotatably connected to the stationary tightening arm through bearing seats. The moving arm sliding screw, the moving arm guide rail, and the motor shaft of the moving arm sliding drive motor are distributed parallel to each other; the moving arm sliding drive gear is coaxially fixed on the motor shaft of the moving arm sliding drive motor; the moving arm sliding driven gear is coaxially fixed on the end of the moving arm sliding screw, and the moving arm sliding driven gear meshes with the moving arm sliding drive gear; the moving arm sliding nut is fitted on the moving arm sliding screw; one end of the moving arm sliding force transmission frame is fixedly connected to the moving arm sliding nut, and the other end of the moving arm sliding force transmission frame is fixedly connected to the moving tightening arm.

4. The continuously variable pitch nut tightening device for aviation equipment according to claim 3, characterized in that: The rotary attitude adjustment and floating buffer mechanism includes a static support frame, a worm gear reducer motor, a moving support frame, a floating buffer guide rail, and a floating buffer guide slider. The static support frame is vertically arranged, and its bottom end is fixedly connected to the upper surface of the moving tightening arm. The three-channel flexible cable pulling mechanism is fixedly installed on the vertical plate of the static support frame. The worm gear reducer motor is fixedly installed on the upper surface of the top plate of the static support frame. The worm gear discs inside the worm gear reducer motor are horizontally distributed, and the worm gear shaft is a hollow shaft. The force transmission shaft passes through the central hole of the worm gear shaft. The top plate of the moving support frame is rotatably connected to the top plate of the static support column through bearings, and the bottom plate of the moving support frame is connected to the top plate of the static support column through bearings. The bearing is rotatably connected to the moving tightening arm; the screw motor bracket vertically passes through the worm gear disc of the worm gear reducer motor and extends downward to below the top plate of the moving support frame; the nut tightening force transmission sleeve vertically passes through the bottom plate of the moving support frame and is fixedly connected to the screw motor bracket above; a floating buffer support spring is provided between the nut tightening force transmission sleeve and the bottom plate of the moving support frame; the floating buffer guide slide is vertically fixed on the outer surface of the nut tightening force transmission sleeve and is located above the bottom plate of the moving support frame; the floating buffer guide slider is slidably connected to the floating buffer guide slide rail; the upright plate of the moving support frame is fixedly connected to the floating buffer guide slider.

5. The continuously variable pitch nut tightening device for aviation equipment according to claim 1, characterized in that: The continuously variable torque actuator of the wrench includes a continuously variable torque drive assembly and a continuously variable torque adjustment assembly, with the continuously variable torque adjustment assembly located below the continuously variable torque drive assembly. The continuously variable torque drive assembly includes a continuously variable torque drive motor, a continuously variable torque drive gear, a continuously variable torque driven gear, a continuously variable torque lead screw, a continuously variable torque nut, a continuously variable torque slide rail, a continuously variable torque slider, a continuously variable torque transmission frame, a continuously variable torque transmission rod, and a continuously variable torque transmission block. The continuously variable torque drive motor is vertically fixed to the outer surface of the nut tightening force transmission sleeve. The continuously variable torque lead screw is vertically disposed on the outer surface of the nut tightening force transmission sleeve, and its two ends are rotatably connected to the nut tightening force transmission sleeve via bearing seats. The continuously variable torque drive motor... The gear is coaxially fixed on the motor shaft of the continuously variable pitch drive motor; the continuously variable pitch driven gear is coaxially fixed on the end of the continuously variable pitch screw, and the continuously variable pitch driven gear meshes with the continuously variable pitch driving gear; the continuously variable pitch nut is fitted on the continuously variable pitch screw; the continuously variable pitch force transmission frame is fixedly connected to the continuously variable pitch nut; the continuously variable pitch slide rail is vertically fixed on the outer surface of the nut tightening force transmission sleeve; the continuously variable pitch slider is slidably connected to the continuously variable pitch slide rail, and the continuously variable pitch slider is fixedly connected to the continuously variable pitch force transmission frame; the continuously variable pitch force transmission rod is vertically arranged, the top end of the continuously variable pitch force transmission rod is fixedly connected to the continuously variable pitch force transmission frame, and the continuously variable pitch force transmission block is fixedly installed at the bottom end of the continuously variable pitch force transmission rod.

6. The continuously variable pitch nut tightening device for aviation equipment according to claim 5, characterized in that: The continuously variable pitch adjustment assembly includes a cable chain, a cable chain track frame, a track frame lifting slide rail, a track frame lifting slider, a wrench-assisted telescopic arm, a telescopic arm retraction and reset rope, a telescopic arm retraction and reset spring, a rope reversing guide wheel assembly, and a reversing guide wheel mounting base. The track frame lifting slide rail is vertically fixed to the outer surface of the nut tightening force transmission sleeve. The track frame lifting slider is slidably connected to the track frame lifting slide rail. The top of the cable chain track frame is fixedly connected to the track frame lifting slider, and the continuously variable pitch force transmission block is connected to the top of the cable chain track frame. Fixed connection; one end of the cable chain is hinged to the bottom end of the nut tightening force transmission sleeve, and the nut tightening wrench is hinged to the other end of the cable chain; a cable chain guide groove is provided on the cable chain track frame, the upper end of the cable chain guide groove is vertically oriented, and the lower end of the cable chain guide groove is horizontally oriented; a cable chain guide roller is provided on the outside of each link hinge point of the cable chain, and the cable chain guide roller is located in the cable chain guide groove; a connecting shaft is rotatably provided in the middle of each link of the cable chain, and adjacent connecting shafts are connected by a through-hole. The components are connected via universal couplings, and the bottom end of the transmission shaft is also connected to the connecting shaft on the last link of the drag chain, and the connecting shaft on the first link of the drag chain is also connected to the nut tightening wrench via universal couplings; the reversing guide wheel mounting seat is fixedly installed at the bottom of the drag chain track frame, and the pull rope reversing guide wheel assembly is set on the reversing guide wheel mounting seat; the rear end of the last stage arm of the wrench auxiliary support telescopic arm is fixedly connected to the reversing guide wheel mounting seat, and the inner side of the front end of the first stage arm of the wrench auxiliary support telescopic arm is provided with a roller groove; in the... The nut tightening wrench is equipped with a wrench guide roller; when the nut tightening wrench extends out of the lower end of the drag chain guide groove, the wrench guide roller and the outermost drag chain guide roller on the last link of the drag chain are both located in the roller groove; the upper end of the telescopic arm retraction and reset spring is fixedly connected to the stepless torque transmission block, the telescopic arm retraction and reset spring is fixedly connected to one end of the telescopic arm retraction and reset pull rope, and the other end of the telescopic arm retraction and reset pull rope passes through the pull rope reversing guide wheel assembly and is fixedly connected to the rear end of the first stage arm of the wrench auxiliary support telescopic arm.

7. A continuously variable pitch nut tightening device for aviation equipment according to claim 5, characterized in that: The continuously variable pitch adjustment assembly also includes another structural form, which comprises a cable chain, a cable chain track frame, a track frame lifting slide rail, and a track frame lifting slider; the track frame lifting slide rail is vertically fixed to the outer surface of the nut tightening force transmission sleeve; the track frame lifting slider is slidably connected to the track frame lifting slide rail; the top of the cable chain track frame is fixedly connected to the track frame lifting slider, and the continuously variable pitch force transmission block is fixedly connected to the top of the cable chain track frame; one end of the cable chain is hinged to the bottom end of the nut tightening force transmission sleeve, and the nut tightening wrench is hinged... Connected to the other end of the cable chain; the cable chain track frame adopts an L-shaped structure, and a cable chain guide groove is provided on the cable chain track frame. The cable chain guide groove also adopts an L-shaped structure, with the L-shaped longitudinal groove facing vertically and the L-shaped transverse groove facing horizontally; a cable chain guide roller is provided on the outside of each link hinge point of the cable chain, and the cable chain guide roller is located in the cable chain guide groove; a wrench guide roller is provided on the nut tightening wrench; a connecting shaft is rotatably provided in the middle of each link of the cable chain, and adjacent connecting shafts are connected by universal joints. The shafts are connected, and the bottom end of the transmission shaft is connected to the connecting shaft on the last link of the drag chain, and the connecting shaft on the first link of the drag chain is also connected to the nut tightening wrench via universal couplings. A spring-loaded limiting block is provided on the side of each link end, and a limiting boss is provided on the side of the spring-loaded limiting block. The surface of the limiting boss is flat. The end face of the link adjacent to the spring-loaded limiting block and the hinged end face of the nut tightening wrench are also flat. The L-shaped crossarm of the drag chain track frame adopts a variable thickness structure, with the thickness of the rear half of the L-shaped crossarm being greater than that of the front half. The thickness of the segment arm; when the spring limiting top block is located at the rear half of the L-shaped cross arm of the drag chain track frame, the limiting boss of the spring limiting top block is offset from the end face of the adjacent chain link; when the spring limiting top block is located at the front half of the L-shaped cross arm of the drag chain track frame or the L-shaped longitudinal groove extending from the drag chain guide slide, the limiting boss of the spring limiting top block is in contact with the end face of the adjacent chain link or the hinged end face of the nut tightening wrench to form a mutually locking limiting structure, so that the nut tightening wrench and the chain link extending from the L-shaped longitudinal groove of the drag chain guide slide are both kept in a horizontal state.

8. A continuously variable pitch nut tightening device for aviation equipment according to claim 6, characterized in that: The nut tightening wrench includes a housing, a cover, an input shaft, a driving bevel gear, a driven bevel gear, an input spur gear, an output spur gear, a nut tightening sleeve, a sleeve limiting plate, an auxiliary limiting bracket, a left pawl, a right pawl, and a nut pressure plate. The end of the housing is hinged to the cable chain. The input shaft is rotatably connected to the housing via a bearing seat, and the rear end of the input shaft is connected to the connecting shaft on the first link of the cable chain via a universal coupling. The driving bevel gear is coaxially fixed to the front end of the input shaft. The driven bevel gear and the input end... A spur gear is coaxially mounted within the housing, and the driven bevel gear meshes with the driving bevel gear. The output spur gear is also rotatably mounted within the housing, meshing with the input spur gear. A nut-tightening sleeve is positioned within the housing via a sleeve limiting plate, possessing only rotational freedom within the housing. A transmission external gear ring and a ratchet gear ring are axially mounted on the outer surface of the nut-tightening sleeve, with the transmission external gear ring meshing with the output spur gear. The cover is fixedly connected to the housing, and the driving bevel gear within the housing... The gear, driven bevel gear, input spur gear, output spur gear, and the transmission external gear ring on the outer surface of the nut tightening sleeve are sealed by a cover. A sleeve through-hole is provided on the housing directly opposite the nut tightening sleeve. The auxiliary limiting frame is fixedly mounted on the housing outside the sleeve through-hole. The ratchet gear ring is located inside the auxiliary limiting frame. The inner surface of the nut tightening sleeve has a dodecagonal hole, which mates with the nut to be tightened. The left and right ratchet pawls are mirror-symmetrically arranged inside the auxiliary limiting frame. The root of the right pawl is hinged to the auxiliary limiting frame. The top ratchet teeth of the left and right pawls cooperate with the ratchet tooth ring. The left and right pawls are respectively provided with a left pawl return spring and a right pawl return spring between the left and right pawls and the auxiliary limiting frame. The left and right pawls are respectively connected to the three-channel flexible cable traction mechanism through the first flexible cable and the second flexible cable. The nut pressure plate is set inside the auxiliary limiting frame. A pressure plate return spring is provided between the nut pressure plate and the auxiliary limiting frame. The nut pressure plate is connected to the three-channel flexible cable traction mechanism through the third flexible cable.

9. A continuously variable pitch nut tightening device for aviation equipment according to claim 6, characterized in that: The nut tightening wrench also includes another structural form, comprising a housing, a cover, an input shaft, a driving bevel gear, a driven bevel gear, an input spur gear, an output spur gear, a nut tightening sleeve, a sleeve limiting plate, an auxiliary limiting frame, a ratchet plate, a first connecting rod, a second connecting rod, a third connecting rod, and a nut pressure plate; the end of the housing is hinged to the cable chain; the input shaft is rotatably connected to the housing via a bearing seat, and the rear end of the input shaft is connected to the connecting shaft on the first link of the cable chain via a universal coupling; the driving bevel gear is coaxially fixed to the front end of the input shaft; the driven bevel gear... The input spur gear and the driven bevel gear are coaxially mounted within the housing, and the driven bevel gear meshes with the driving bevel gear. The output spur gear is rotatably mounted within the housing and meshes with the input spur gear. The nut tightening sleeve is mounted within the housing via a sleeve limiting plate, and the nut tightening sleeve has only rotational freedom within the housing. A transmission external gear ring and a ratchet gear ring are respectively provided axially on the outer surface of the nut tightening sleeve, and the transmission external gear ring meshes with the output spur gear. The cover is fixedly connected to the housing, and the driving bevel gear, driven bevel gear, and input spur gear within the housing... The gear, output spur gear, and transmission external gear ring on the outer surface of the nut tightening sleeve are sealed by a cover. A sleeve through-hole is provided on the housing opposite the nut tightening sleeve. The auxiliary limiting frame is fixedly mounted on the housing outside the sleeve through-hole. The ratchet gear ring is located inside the auxiliary limiting frame. The inner surface of the nut tightening sleeve has a dodecagonal hole, which mates with the nut to be tightened. The ratchet plate, first connecting rod, second connecting rod, and third connecting rod are located inside the auxiliary limiting frame and connected to form a parallelogram mechanism. The top ratchet teeth of the ratchet plate mate with the ratchet gear ring. In this configuration, the hinge joint between the first and third links is connected to a three-channel flexible cable traction mechanism via a first flexible cable, and the hinge joint between the second and third links is connected to a three-channel flexible cable traction mechanism via a second flexible cable. A left ratchet plate return spring is provided between the left end of the ratchet plate and the auxiliary limiting frame, and a right ratchet plate return spring is provided between the right end of the ratchet plate and the auxiliary limiting frame. The nut pressure plate is located inside the auxiliary limiting frame, and a pressure plate return spring is provided between the nut pressure plate and the auxiliary limiting frame. The nut pressure plate is connected to the three-channel flexible cable traction mechanism via a third flexible cable.

Images