CN117415601A - Semi-automatic tightening equipment in narrow space - Google Patents

Abstract

The invention belongs to the technical field of automatic assembly, and particularly relates to semi-automatic tightening equipment in a narrow space. The device comprises a power source lifting system, an upper tooling horizontal feeding system, an upper tooling lifting system, an upper tooling indexing positioning system, a tightening central system and a bottom supporting system, wherein the power source lifting system, the upper tooling horizontal feeding system, the upper tooling lifting system and the upper tooling indexing positioning system are sequentially connected from top to bottom, the tightening central system is connected with the upper tooling lifting system, and the bottom supporting system is connected to the bottom of the tightening central system; the power source lifting system is used for completing the butt joint action of the tightening power source, the tightening central system is used for completing the tightening power output, and the bottom support system is used for assisting the tightening central system to complete radial support. The invention has the characteristics of high automation degree and high movement precision, avoids manual misoperation, and ensures the tightening consistency of each nut.

Description

Semi-automatic tightening equipment in narrow space

Technical Field

The invention belongs to the technical field of automatic assembly, and particularly relates to semi-automatic tightening equipment in a narrow space.

Background

In the aeroengine core machine, the high-pressure rotor mainly comprises a high-pressure compressor rotor and a high-pressure turbine rotor, and the multistage impeller of the high-pressure compressor rotor is fastened through dozens of threaded connectors uniformly distributed along the circumferential direction of the axis, so that the main structure assembly of the high-pressure rotor is realized. For part of machine types, the nut in the threaded fastener is a rear-mounted nut of the comb plate, the rear-mounted nut is positioned at the rear side of the comb plate, the contact end faces the rear mounting edge of the high-pressure turbine rotor to be pressed, and the connecting bolt is a special D-shaped bolt with axial limiting and corner locking functions. Because the high-pressure rotor is a core power component of the aeroengine, the working is under the high-temperature and high-pressure external load condition, the rotating speed can reach 18000rpm and bear the axial load of 30-40t, the connecting part of the high-pressure compressor rotor and the high-pressure turbine rotor is a key vulnerable position, and the screwing quality of the threaded connecting piece is an important factor affecting the assembly performance and the running reliability of the whole machine.

In the high-pressure rotor assembly process, main assembly processes such as bolt preassembling, assembly butting, fastening and the like are sequentially completed, and for the fastening process, nuts are required to be installed and screwed inside the high-pressure rotor. The internal tightening of the high-pressure rotor can occupy space size to change according to different engine models, but has the characteristic of long and narrow space layout, wherein the axial depth distance of the rear shaft end opening of the nut relative to the high-pressure turbine rotor reaches 600-800mm, the inner diameter of the channel of the rear shaft of the high-pressure turbine rotor is phi 90-150mm, the distributed diameter size of the nut is phi 200-400mm, the tightening mechanism has the difficulties of long feeding channel, small tightening space, multi-area interference and the like in operation, and the following defects exist in the process mainly by adopting a mode of operating an elongated tightening tool to carry out deep, deflection and tightening in China, and the process mainly depends on a manual operation method, so that the successful application case of automatic special tightening equipment does not exist: (1) poor consistency of assembly quality: the method for manually operating the mechanical tool in place has the problems of nut installation deviation, inclination and the like, and the tightening consistency of each nut cannot be ensured; most of the existing application devices are of elongated rod-shaped structures, the overall rigidity is low, the anti-torsion effect is poor, the devices are deformed under load in the screwing process, and screwing quality is affected; (2) low assembly accuracy: the existing application device mainly adopts a manual torque device or an external torque system as tightening power input, closed loop detection cannot be realized in the tightening process, the actual torque and the screw-in angle of the nut have large deviation from the measured value of a sensor at the far end, random errors are difficult to compensate, and the tightening torque and the rotation angle precision of the nut cannot be ensured; (3) low assembly efficiency: in the existing method, after the nut group is installed and first screwed, the device is usually required to repeatedly insert, install, pull out and disassemble in the high-voltage rotor for the second screwed, so that the correct positioning of the screwed sleeve relative to the nuts at each angle is finished, cap-identifying action takes a lot of time, and the second screwed operation efficiency is low.

Disclosure of Invention

In order to solve the problems of the prior art, the invention aims to provide a semi-automatic tightening device in a narrow space, so as to solve the problems of poor consistency of assembly quality, low assembly precision and low assembly efficiency of a manual operation method.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention provides a semi-automatic tightening device in a narrow space, which comprises a power source lifting system, an upper tooling horizontal feeding system, an upper tooling lifting system, an upper tooling indexing positioning system, a tightening central system and a bottom supporting system, wherein the power source lifting system, the upper tooling horizontal feeding system, the upper tooling lifting system and the upper tooling indexing positioning system are sequentially connected from top to bottom, the tightening central system is connected with the upper tooling lifting system, and the bottom supporting system is connected to the bottom of the tightening central system; the power source lifting system is used for completing the butt joint action of the tightening power source, the upper tooling horizontal feeding system is used for completing the integral horizontal feeding of the power source lifting system, the upper tooling lifting system is used for completing the lifting movement of the tightening central system, the upper tooling indexing positioning system is used for completing the rotary indexing of the tightening central system, the tightening central system is used for completing the tightening power output, and the bottom support system is used for assisting the tightening central system to complete radial support.

The upper tooling lifting system comprises a lifting driving electric cylinder, a lifting sliding table top plate, a lifting sliding table guide assembly, a lifting sliding table plate and a lifting sliding table mounting base, wherein the lifting sliding table top plate is arranged above the lifting sliding table mounting base and fixedly connected with the lifting sliding table guide assembly through the lifting sliding table guide assembly, the lifting driving electric cylinder is arranged on the lifting sliding table plate, an output end of the lifting driving electric cylinder is connected with the lifting sliding table top plate, the lifting driving electric cylinder provides power for lifting of the lifting sliding table plate, and the lifting sliding table guide assembly provides guide for lifting of the lifting sliding table plate.

The upper tooling horizontal feeding system comprises a translation driving motor, a translation sliding table plate, a translation driving gear, a translation linear guide rail and a translation rack, wherein the translation linear guide rail and the translation rack are arranged on the lifting sliding table plate in parallel, the translation sliding table plate is in sliding fit with the translation linear guide rail, the translation driving motor is arranged on the translation sliding table plate, the output end of the translation driving motor is connected with the translation driving gear, and the translation driving gear is meshed with the translation rack; the translation driving motor provides power for the horizontal movement of the translation sliding table plate along the translation linear guide rail.

The upper tool indexing positioning system comprises an indexing bearing seat assembly, an indexing fixed large gear, a tool base, an indexing driving pinion assembly and an indexing driving motor, wherein the tool base is arranged below the lifting sliding table mounting base and is rotationally connected with the lifting sliding table mounting base through the indexing bearing seat assembly, the indexing fixed large gear is coaxially fixed on the outer side of the indexing bearing seat assembly, the indexing driving motor is arranged on the lifting sliding table mounting base, the output end of the indexing driving motor is connected with the indexing driving pinion assembly, and the indexing driving pinion assembly is meshed with the indexing fixed large gear.

The power source lifting system comprises a flexible belt transmission mechanism, a linear motor assembly, a linear motor guide rail, a power source sliding table assembly, a power source lifting base assembly, a lifting sliding table execution sliding rail and a power source assembly, wherein the power source lifting base assembly is fixed on the upper tool horizontal feeding system, the lifting sliding table execution sliding rail and the linear motor guide rail are respectively arranged on the front surface and the back surface of the power source lifting base assembly, and the linear motor assembly is in sliding fit with the linear motor guide rail and is used for outputting power along the vertical direction; the power source sliding table assembly is in sliding fit with the lifting sliding table through a sliding rail, and the power source assembly is arranged at the lower end of the power source sliding table assembly; the flexible belt transmission mechanism is arranged on the power source lifting base assembly, two ends of the flexible belt transmission mechanism are respectively connected with the linear motor assembly and the power source sliding table assembly, and the flexible belt transmission mechanism is used for transmitting power of the linear motor assembly to the power source sliding table assembly so that the power source sliding table assembly can lift.

The power source assembly comprises a power source speed reducer, a power source motor, a gear box assembly and a miniature torque corner sensor, wherein an input shaft of the power source speed reducer is connected with the power source motor, an output shaft of the power source speed reducer is connected with an input shaft of the gear box assembly, an axis of an output shaft of the gear box assembly is arranged in the vertical direction, and the miniature torque corner sensor is coaxially installed with an output shaft of the gear box assembly.

The tightening central system comprises a protection barrel assembly and a tightening gear box assembly, wherein the upper end of the protection barrel assembly is connected with the upper tool lifting system, and the tightening gear box assembly is arranged at the bottom of the protection barrel assembly;

the tightening gear box assembly comprises a gear box base, a folding gear box assembly I and a folding gear box assembly II which are connected to the gear box base in a sliding manner, wherein the folding gear box assembly I and the folding gear box assembly II are in transmission connection, and shells of the folding gear box assembly I and the folding gear box assembly II are hinged with each other; the folding gearbox assembly I is provided with a tightening input shaft, and the output shaft of the folding gearbox assembly II is provided with a tightening sleeve.

The tail part of the folding gearbox assembly I is provided with a hanging ring; a rack assembly is arranged on the folding gear box assembly II along the translation direction of the tightening gear box assembly; an interface is arranged on the gear box base corresponding to the rack assembly;

during working, the lifting ring is hooked by a long rod hook manually to drive the folding gearbox assembly I to swing flat; the manual work is through gear shaft stock and the engagement of rack subassembly in the interface department of gear box base, rotatory gear shaft stock drive screw up the gear box subassembly translation forward.

The bottom support system comprises a bottom support base, bottom support fingers, a bottom connecting rod assembly, a bottom connecting rod push head, a bottom driving cylinder and a protective shell, wherein the top of the bottom support base is connected with two bottom support fingers in a sliding manner; the bottom driving cylinder is arranged on the bottom supporting base, the output end of the bottom driving cylinder is connected with the bottom connecting rod assembly through the bottom connecting rod push head, the bottom connecting rod assembly is connected with two bottom supporting fingers, and the protective shell is arranged on the outer side of the bottom driving cylinder; the bottom driving cylinder drives the two bottom supporting fingers to complete centering unfolding motion through the bottom connecting rod assembly.

The bottom connecting rod assembly comprises two connecting rods, the lower ends of the two connecting rods are hinged with the bottom connecting rod push head through a hinge shaft, and the upper ends of the two connecting rods are respectively hinged with two bottom supporting fingers.

The invention has the advantages and beneficial effects that: the invention adopts a mode of arranging the tightening power system at the position close to the tightening gear box, reduces the tightening transmission distance, reduces errors caused by transmission gaps and stress deformation, integrates a miniature torque sensor at the sleeve of the tightening gear box to ensure the tightening torque to be output to the sleeve to form a closed loop, ensures the precision of the tightening torque of the nut, and simultaneously monitors the rotation angle of the tightening motor in real time by virtue of the miniature rotation angle sensor integrated at the rear end of the tightening motor so as to calculate the output rotation angle of the sleeve to achieve the purpose of monitoring the tightening rotation angle.

The tightening equipment adopts a support anti-torsion mode, has the characteristics of high structural static rigidity and good motion stability, and ensures that the structural member cannot deform greatly when being screwed down with large torque and unscrewed. The invention adopts a man-machine interaction touch panel to operate the numerical control system, has the characteristics of high degree of automation and high movement precision, avoids manual misoperation, and ensures the tightening consistency of each nut.

Drawings

FIG. 1 is an isometric view of a semi-automatic tight fitting apparatus in a confined space of the present invention;

FIG. 2 is a schematic diagram of the upper tooling horizontal feed system and upper tooling lifting system of the present invention;

FIG. 3 is a schematic diagram of the indexing and positioning system and tightening hub system of the upper tool of the present invention;

FIG. 4 is a schematic view of the tightening of the gearbox assembly of the present invention in a horizontal position;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is a schematic view of the invention in a folded condition with the gearbox assembly tightened;

FIG. 7 is a top view of FIG. 6;

FIG. 8 is a schematic view of the drive of the tightening gearbox assembly of the present invention;

FIG. 9 is a bottom view of the bottom support system of the present invention;

FIG. 10 is a cross-sectional view A-A of FIG. 9;

FIG. 11 is a schematic diagram of a power source lift system according to the present invention;

FIG. 12 is a rear view of FIG. 11;

FIG. 13 is a schematic view of a power source assembly according to the present invention;

fig. 14 is a schematic view of a power source docking state in the present invention.

In the figure: 1-power source lifting system, 2-upper tooling horizontal feed system, 3-upper tooling lifting system, 4-upper tooling indexing positioning system, 5-spreader, 6-tightening hub system, 7-bottom support system, 8-lifting drive cylinder, 9-lifting slide top plate, 10-lifting slide guide assembly, 11-lifting slide platen, 12-lifting slide guide bearing, 13-lifting slide mounting base, 14-translation drive motor, 15-translation slide platen, 16-translation drive gear, 17-translation linear guide, 18-translation rack, 19-lifting stop ram, 20-protection cylinder assembly, 21-indexing bearing block assembly, 22-fixed gearwheel, 23-tooling base, 24-tooling transition flange, 25-indexing drive pinion assembly, 26-tightening gearbox assembly, 27-folding gearbox assembly I, 28-folding gearbox assembly II, 29-gearbox base, 30-bottom support positioning pin, 31-bottom support base, 32-bottom support finger, 33-bottom link assembly, 34-bottom link push head, 35-bottom drive motor, 36-protection shell drive motor, 36-37-sprocket, 39-40-indexing sprocket, 43-linear guide, 43-lifting drive motor assembly I, 42-linear guide, 43-lifting drive sprocket assembly I, 42-linear guide assembly, 43-lifting drive motor assembly, 42-lifting drive sprocket assembly I, 42-lifting drive sprocket assembly, 43-lifting drive motor assembly I, 48-lifting sliding table execution sliding rail, 49-power source speed reducer, 50-power source motor, 51-gear box component, 52-miniature torque rotation angle sensor, 53-power source component, 54-long rod hook, 55-long rod gear shaft, 56-rack component, 57-hinged rotating shaft, 58-screwing sleeve, 59-screwing input shaft and 60-gear transmission pair.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the invention provides a semi-automatic tightening device in a narrow space, which comprises a power source lifting system 1, an upper tooling horizontal feeding system 2, an upper tooling lifting system 3, an upper tooling indexing positioning system 4, a tightening central system 6 and a bottom supporting system 7, wherein the power source lifting system 1, the upper tooling horizontal feeding system 2, the upper tooling lifting system 3 and the upper tooling indexing positioning system 4 are sequentially connected from top to bottom, the tightening central system 6 is connected with the upper tooling lifting system 3, and the bottom supporting system 7 is connected to the bottom of the tightening central system 6; the power source lifting system 1 is used for completing the butt joint action of the tightening power source, the upper tooling horizontal feeding system 2 is used for completing the integral horizontal feeding of the power source lifting system 1, the upper tooling lifting system 3 is used for completing the lifting movement of the tightening central system 6, the upper tooling indexing positioning system 4 is used for completing the rotary indexing of the tightening central system 6, the tightening central system 6 is used for completing the tightening power output, and the bottom support system 7 is used for assisting the tightening central system 6 to complete radial support.

As shown in fig. 2, in the embodiment of the invention, the upper tooling lifting system 3 comprises a lifting driving cylinder 8, a lifting sliding table top plate 9, a lifting sliding table guiding assembly 10, a lifting sliding table plate 11 and a lifting sliding table mounting base 13, wherein the lifting sliding table top plate 9 is arranged above the lifting sliding table mounting base 13 and is fixedly connected with the lifting sliding table mounting base 13 through the lifting sliding table guiding assembly 10, the lifting sliding table guiding assembly 10 comprises a support and an optical axis, and two ends of the optical axis are respectively and fixedly connected with the lifting sliding table top plate 9 and the lifting sliding table mounting base 13 through the support. The lifting sliding table plate 11 is in sliding fit with an optical axis in the lifting sliding table guide assembly 10 through a lifting sliding table guide bearing 12, the lifting driving electric cylinder 8 is arranged on the lifting sliding table plate 11, the output end of the lifting driving electric cylinder is connected with the lifting sliding table top plate 9, the lifting driving electric cylinder 8 provides power for lifting of the lifting sliding table plate 11, and the lifting sliding table guide assembly 10 provides guide for lifting of the lifting sliding table plate 11. When the cylinder rod of the elevation drive cylinder 8 expands and contracts, the elevation slide table plate 11 moves up and down along the optical axis in the elevation slide guide assembly 10 together with the cylinder body.

Further, a lifting limiting collision block 19 is arranged on the lifting sliding table mounting base 13, and the lifting limiting collision block 19 is used for limiting the lifting sliding table plate 11.

As shown in fig. 2, in the embodiment of the present invention, the upper tooling horizontal feeding system 2 includes a translation driving motor 14, a translation sliding table plate 15, a translation driving gear 16, a translation linear guide rail 17 and a translation rack 18, wherein the translation linear guide rail 17 and the translation rack 18 are arranged on the lifting sliding table plate 11 in parallel, the translation sliding table plate 15 is in sliding fit with the translation linear guide rail 17, the translation driving motor 14 is arranged on the translation sliding table plate 15, an output end is connected with the translation driving gear 16, and the translation driving gear 16 is meshed with the translation rack 18; the translation drive motor 14 powers the horizontal movement of the translation slide platen 15 along the translation linear guide 17. When the translation driving motor 14 works, the translation driving gear 16 is driven to rotate, so that the translation sliding table plate 15 horizontally moves along the translation linear guide rail 17.

Further, lifting slings 5 are arranged on two sides of the lifting slipway mounting base 13; the lifting appliance 5 is a U-shaped square beam, a waist-shaped notch is formed in the beam, the lifting sliding table mounting base 13 is connected with the U-shaped square beam through bolts, and the lifting gravity center can be adjusted along the notch direction, so that the lifting appliance can adapt to cap wearing equipment at different gravity center positions, universality is achieved within a certain range, an M8 threaded hole is reserved at the end part of the U-shaped square beam, and the lifting appliance can be conveniently mounted and rotated.

As shown in fig. 3, in the embodiment of the present invention, the upper tooling indexing positioning system 4 includes an indexing bearing seat assembly 21, an indexing fixed large gear 22, a tooling base 23, an indexing driving pinion assembly 25 and an indexing driving motor, wherein the tooling base 23 is disposed below the lifting sliding table mounting base 13 and is rotationally connected with the lifting sliding table mounting base 13 through the indexing bearing seat assembly 21, the indexing fixed large gear 22 is coaxially fixed on the outer side of the indexing bearing seat assembly 21, the indexing driving motor is disposed on the lifting sliding table mounting base 13, the output end is connected with the indexing driving pinion assembly 25, and the indexing driving pinion assembly 25 is meshed with the indexing fixed large gear 22. When the device works, the indexing drive motor drives the indexing drive pinion assembly 25 to rotate, and the indexing drive pinion assembly 25 is meshed with the indexing fixed large gear 22, so that the indexing drive pinion assembly 25 also rolls along the indexing fixed large gear 22, and the lifting slipway mounting base 13 is driven to do 360-degree indexing rotation around the center line of the indexing bearing seat assembly 21, and the mechanism can complete indexing action along the radial direction of the rear shaft.

As shown in fig. 3, in the embodiment of the present invention, the tightening hub system 6 includes a protection barrel assembly 20 and a tightening gear box assembly 26, wherein the upper end of the protection barrel assembly 20 is connected with the lifting slide plate 11 in the upper tool lifting system 3, the tightening gear box assembly 26 is disposed at the bottom of the protection barrel assembly 20, and the tightening gear box assembly 26 is connected with the power source lifting system 1 to achieve tightening of the nut.

As shown in fig. 4 to 7, in the embodiment of the present invention, the tightening gearbox assembly 26 includes a gearbox base 29, and a folding gearbox assembly i 27 and a folding gearbox assembly ii 28 slidably connected to the gearbox base 29, the folding gearbox assembly i 27 and the folding gearbox assembly ii 28 are connected by a gear transmission pair 60, and the housings of the folding gearbox assembly i 27 and the folding gearbox assembly ii 28 are hinged to each other, and the folding gearbox assembly i 27 can be folded up by 90 ° with respect to the folding gearbox assembly ii 28. The folding gearbox assembly I27 is provided with a tightening input shaft 59, and the output shaft of the folding gearbox assembly II 28 is provided with a tightening sleeve 58.

In the embodiment of the present invention, as shown in fig. 8, the gear pair 60 between the folding gearbox assembly i 27 and the folding gearbox assembly ii 28 includes two gears meshed with each other, and when the folding gearbox assembly i 27 and the folding gearbox assembly ii 28 form an angle of 90 °, the axes of the two gears of the gear pair 60 also form an angle of 90 °, and at this time, the engagement surfaces are reduced, but still contact, so as to prevent interference during leveling. When the folding gearbox assembly I27 is swung flat, the folding gearbox assembly I27 and the folding gearbox assembly II 28 form an included angle of 180 degrees, and the two gears enter a horizontal meshing state, namely a torque transmission state. Thus, the gears of the gear pair 60 are always in mesh whether the folding gearbox assembly I27 and the folding gearbox assembly II 28 are vertical or horizontal.

Further, the tail of the folding gearbox assembly I27 is provided with a hanging ring, and the long rod hook 54 can be penetrated by a person at any time. A rack assembly 56 is arranged on the folding gearbox assembly II 28 along the translation direction of the tightening gearbox assembly 26; the gear box base 29 is provided with an interface corresponding to the rack assembly 56, and the gear shaft long rod 55 can be manually penetrated at any time. During operation, the lifting ring is hooked by a long rod hook 54 manually, and the folding gearbox assembly I27 is driven to swing flat; manually engaging the rack assembly 56 at the interface of the gearbox base 29 through the gear shaft lever 55, rotating the gear shaft lever 55 drives the tightening gearbox assembly 26 to translate forward.

In an initial state, the folding gearbox assembly I27 and the folding gearbox assembly II 28 in the tightening gearbox assembly 26 are in an included angle gesture of 90 degrees, and at the moment, the folding gearbox assembly I27 and the folding gearbox assembly II 28 are all located in a projection cylindrical surface of the gearbox base 29, and the tightening gearbox assembly 26 cannot interfere with an inner cavity of an engine in the hanging process, as shown in fig. 6 and 7. After the gear box assembly 26 is integrally hoisted in place, a long rod hook 54 is manually penetrated into the tail hanging ring of the folding gear box assembly I27, the folding gear box assembly I27 is swung to a swinging position along a hinge pin, and then the folding gear box assembly I27 and the folding gear box assembly II 28 are integrally pushed forward; the manual work penetrates into the gear shaft long rod 55, the gear shaft long rod 55 is rotated, the tail end of the gear shaft long rod 55 drives the rack assembly 56 to push forwards, the folding gearbox assembly II 28 and the folding gearbox assembly I27 are pushed forwards to the designated positions, and at the moment, the unfolding action of tightening the central system 6 is completed, as shown in fig. 4 and 5. Also, because the tightening sleeve 58 is also located in the projection cylindrical surface of the gear box base 29 when the tightening gear box assembly 26 is in the 90 ° posture, the nut can be directly put into the tightening sleeve 58 from the upper inlet of the tool through the elongated rod clamping tool to complete the feeding operation, so that the device can complete the tightening operation and simultaneously take into account the capping operation.

As shown in fig. 9 and 10, in the embodiment of the present invention, the bottom support system 7 includes a bottom support base 31, a bottom support finger 32, a bottom link assembly 33, a bottom link pusher 34, a bottom driving cylinder 35, and a protective shell 36, wherein the top of the bottom support base 31 is slidably connected with two bottom support fingers 32; the bottom driving cylinder 35 is arranged on the bottom supporting base 31, the output end of the bottom driving cylinder is connected with the bottom connecting rod assembly 33 through the bottom connecting rod push head 34, the bottom connecting rod assembly 33 is connected with the two bottom supporting fingers 32, and the protective shell 36 is arranged on the outer side of the bottom driving cylinder 35; the bottom drive cylinder 35 drives the two bottom support fingers 32 through the bottom link assembly 33 to perform a centering deployment motion.

Specifically, the bottom link assembly 33 includes two links, the lower ends of which are hinged to the bottom link pusher 34 via hinge shafts, and the upper ends of which are respectively hinged to the two bottom support fingers 32.

When the bottom support system 7 needs to be unfolded, the bottom driving cylinder 35 pushes the hinge point of the bottom connecting rod assembly 33 to ascend, the bottom connecting rod assembly 33 is separated to two sides, the bottom connecting rod assembly 33 and the bottom support finger 32 are in a hinged structure, and the bottom support finger 32 is connected with the sliding groove on the bottom support base 31 in a sliding pair, so that the bottom connecting rod assembly 33 is driven by the bottom connecting rod push head 34 to ascend, the upper end of the bottom connecting rod assembly 33 is separated to two sides, and then the two bottom support fingers 32 are driven to symmetrically move to the outer side, so that the symmetrical centering unfolding movement of the two bottom support fingers 32 is completed, and the bottom support system 7 is used for supporting the axial center surface of the bottom leaf disc by the tightening central system 6. The bottom driving cylinder 35 is provided with a magnetic detection switch to detect whether the movement of the cylinder piston is in place or not, and thus to detect the open/close state of the bottom supporting finger 32. The bottom support system 7 fixedly connects the bottom support base 31 with the protective barrel assembly 20 and the gearbox base 29 by bottom support dowel pins 30. Accordingly, the reverse torque of tightening the gearbox assembly 26 can be transmitted through the protective barrel assembly 20. The protective housing 36 is non-metal material, because bottom sprag system 7 gets into the engine rear axle first, so the design non-metal protective housing both plays the effect of protection bottom sprag, plays the function of guiding frock entering engine rear axle simultaneously, prevents to collide with the engine inner wall of damaging.

As shown in fig. 11 and 12, in the embodiment of the present invention, the power source lifting system 1 includes a flexible belt transmission mechanism, a linear motor assembly 41, a linear motor guide rail 42, a power source sliding table assembly 46, a power source lifting base assembly 47, a lifting sliding table execution sliding rail 48 and a power source assembly 53, wherein the power source lifting base assembly 47 is fixed on the upper tooling horizontal feeding system 2, the lifting sliding table execution sliding rail 48 and the linear motor guide rail 42 are respectively arranged on the front surface and the rear surface of the power source lifting base assembly 47, and the linear motor assembly 41 is in sliding fit with the linear motor guide rail 42 for outputting power along the vertical direction; the power source sliding table assembly 46 is in sliding fit with the lifting sliding table execution sliding rail 48, and the power source assembly 53 is arranged at the lower end of the power source sliding table assembly 46; the flexible belt transmission mechanism is arranged on the power source lifting base assembly 47, two ends of the flexible belt transmission mechanism are respectively connected with the linear motor assembly 41 and the power source sliding table assembly 46, and the flexible belt transmission mechanism is used for transmitting power of the linear motor assembly 41 to the power source sliding table assembly 46 so that the power source sliding table assembly 46 lifts.

In the embodiment of the invention, the flexible belt transmission mechanism comprises a chain wheel 37, a rotating shaft 38, a chain 39 and a drag chain box 45, wherein the chain wheel 37 is arranged at the top of a power source lifting base assembly 47 through the rotating shaft 38, and the chain 39 passes through the chain wheel 37, and two ends of the chain 39 are respectively connected with a linear motor assembly 41 and a power source sliding table assembly 46.

Further, the upper and lower ends of the power source lifting base assembly 47 are respectively provided with a lifting limit I40 and a lifting limit II 43, and the lifting limit I40 and the lifting limit II 43 are used for limiting the lifting stroke of the linear motor assembly 41. A drag chain case 45 is provided on one side of the power source lifting base assembly 47, and the drag chain case 45 is connected to the linear motor assembly 41.

As shown in fig. 13, in the embodiment of the present invention, the power source assembly 53 includes a power source speed reducer 49, a power source motor 50, a gear box assembly 51, and a micro torque angle sensor 52, wherein an input shaft of the power source speed reducer 49 is connected to the power source motor 50, and an output shaft of the power source speed reducer 49 is connected to an input shaft of the gear box assembly 51. The gear box assembly 51 is an offset type gear box, the axis of the output shaft of the gear box assembly 51 is arranged in the vertical direction, and the micro torque rotation angle sensor 52 is coaxially installed with the output shaft of the gear box assembly 51, so that rotation angles are the same.

In the embodiment of the invention, the power source sliding table assembly 46 is of an aluminum alloy box-shaped structure, a lightening hole is formed, the self weight is reduced, the power source assembly 53 is integrated at the tail end of the box body, and the lifting sliding table execution sliding rail 48 is fixed on the power source sliding table assembly 46, so that the power source sliding table assembly 46 can do low-resistance linear motion along the lifting sliding table execution sliding rail 48. The lifting slide table execution slide rail 48 is fixed on the power source lifting base assembly 47, the power source lifting base assembly 47 is a shell of the whole power source system, the power source lifting base assembly 47 is connected to the translation slide table plate 15 of the upper tooling horizontal feeding system 2 through the support flange 44, and the lifting slide table execution slide rail 48 is fixed on two vertical plates of the power source lifting base assembly 47. The linear motor guide rail 42 is fixed to the back plate of the power source lifting base assembly 47, and the linear motor assembly 41 can perform linear motion with low resistance along the linear motor guide rail 42. One side of the linear motor assembly 41 is hinged with the chain 39, so that the linear motor assembly 41 can drive the chain 39 to lift up and down, and meanwhile, power is transmitted to the power source sliding table assembly 46 which is also hinged with the other end of the chain 37 through the chain wheel 37, so that the power source sliding table assembly 46 is driven to lift up and down. The power source motor 50 is used for reducing speed and increasing torque through the power source speed reducer 49 and the gear box assembly 51, and meanwhile, the miniature torque corner sensor 52 is further arranged on the output shaft of the gear box assembly 51, so that the torque value and the corner value output by the output shaft of the power source can be directly measured, and the output precision of the power source is improved. The lifting limit can prevent the linear motor from accidentally moving out of the prescribed area.

In the embodiment, all driving motors, electric cylinders and air cylinders are controlled by a numerical control system, the electric cylinders and the motors are provided with built-in encoders, and the air cylinders are provided with external magnetic switches to complete closed-loop position detection.

The invention provides a semi-automatic tightening device in a narrow space, which is connected to a rear shaft port of an engine through a switching tool to finish the tightening and capping operation of nuts between high-pressure rotor discs of an aeroengine, and has the advantages of good tightening quality consistency, high tightening precision and high tightening efficiency. The invention adopts a mode of arranging the tightening power system at the position close to the tightening gear box, reduces the tightening transmission distance, reduces errors caused by transmission gaps and stress deformation, integrates a miniature torque sensor at the sleeve of the tightening gear box to ensure the tightening torque to be output to the sleeve to form a closed loop, ensures the precision of the tightening torque of the nut, and simultaneously monitors the rotation angle of the tightening motor in real time by virtue of the miniature rotation angle sensor integrated at the rear end of the tightening motor so as to calculate the output rotation angle of the sleeve to achieve the purpose of monitoring the tightening rotation angle. The tightening mechanism adopts a support anti-torsion mode, has the characteristics of high structural static rigidity and good motion stability, and ensures that the structural member cannot deform greatly when being tightened and loosened with large torque to influence the tightening precision. The invention adopts a man-machine interaction touch panel to operate the numerical control system, has the characteristics of high degree of automation and high movement precision, avoids manual misoperation, and ensures the tightening consistency of each nut.

The invention provides semi-automatic tightening equipment in a narrow space, which comprises the following steps of:

returning all electrical components to the initial point: the lifting sliding table top plate 9 moves to a high-position zero position, the translation sliding table plate 15 moves to a back-withdrawing position zero position, the upper tooling indexing positioning system 4 rotates to a 0-degree position, the bottom driving cylinder 35 is retracted, the linear motor assembly 41 returns to an initial low position, the tightening gear box assembly 26 is folded to a 90-degree posture, the folding gear box assembly II 28 and the rack assembly 56 are retracted, all zero points are detected by an absolute value encoder of a motor and a magnetic switch of the cylinder, and after the full zero setting is achieved, the numerical control system can perform subsequent operation.

Equipment preassembling: and installing a transition flange on the rear shaft of the engine, and integrally hoisting the equipment to the transition flange to finish the positioning of the whole equipment and the rear shaft of the engine.

Lifting action in automatic nail searching action: the cylinder rod of the lifting driving cylinder 8 is retracted to drive the lifting sliding table plate 11 to move downwards relative to the lifting sliding table top plate 9, so that the tightening central system 6 moves downwards in place along the rear shaft axial direction.

Tightening the central system deployment action: the gear box in the initial state is in a 90-degree posture, and is located in the projection cylindrical surface of the base at the moment, and the gear box assembly 26 is screwed down in the hanging process and cannot interfere with the inner cavity of the engine. After the gear box assembly 26 is screwed and integrally hoisted in place, the hook long rod 54 is manually penetrated into the tail lifting ring of the folding gear box assembly I27, the folding gear box assembly I27 is swung to a swinging position along the hinge pin, and then the folding gear box assembly I27 and the folding gear box assembly II 28 are integrally pushed forwards; the manual work penetrates into the gear shaft long rod 55, the gear shaft long rod 55 is rotated, the tail end of the gear shaft long rod 55 drives the rack assembly 56 to push forwards, the folding gearbox assembly II 28 and the folding gearbox assembly I27 are pushed forwards to the designated positions, and at the moment, the unfolding action of tightening the central system 6 is completed. When the cap is needed to be put on, the tightening sleeve 58 is also positioned in the projection cylindrical surface of the gear box base 29 when the tightening gear box assembly 26 is in the 90-degree posture, so that the nut can be directly put into the tightening sleeve 58 from the inlet at the upper part of the tool through the slender rod clamping tool to complete the feeding action, and the device can complete the tightening operation and simultaneously give consideration to the cap putting operation. When the work is completed, the hook long rod 54 and the gear shaft long rod 55 are withdrawn.

Horizontal feeding action in automatic nail searching action: the translation driving motor 14 drives the translation driving gear 16 to rotate, the translation rack 18 and the translation linear guide rail 17 are both fixed on the lifting slide table plate 11, the translation slide table plate 15 is fed forward relative to the lifting slide table plate 11 along the translation linear guide rail 17, the power source lifting system 1 is completed to move in place along the rear shaft radial direction, at this time, the power source assembly 53 is positioned at the uppermost part of the torque input port of the tightening gearbox assembly 26, and the power source docking action can be completed after the power source is lowered.

Circumferential indexing action in automatic nail searching action: the indexing driving motor drives the indexing driving pinion assembly 25 to rotate, the indexing fixed large gear 22 is meshed with the indexing driving pinion assembly 25, the indexing driving pinion assembly 25 revolves along the indexing fixed large gear 22, and the indexing bearing seat assembly 21 guides and drives the lifting sliding table mounting base 13 to do 360-degree indexing rotation around the center of the indexing bearing seat assembly 21, so that the indexing action is completed.

The descending, feeding and indexing actions are coordinated actions controlled by the numerical control system, and the automatic nail searching action of the tightening central system 6 is completed.

Before the tightening operation starts, the bottom support system 7 on which the tightening hub system 6 is mounted needs to be automatically deployed, increasing the anti-torque stiffness of the cantilevered tightening hub system 6 extending into the rear axle of the engine.

Bottom support deployment action: the bottom driving cylinder 35 pushes the hinge point on the bottom connecting rod assembly 33 to rise, so that the bottom connecting rod assembly 33 is separated to two sides, the bottom connecting rod assembly 33 and the bottom supporting finger 32 are of a hinged structure, the bottom supporting finger 32 is connected with the sliding groove of the bottom supporting base 31 by a sliding pair, and therefore the bottom connecting rod assembly 33 is lifted by the bottom connecting rod pushing head 34 to drive the upper ends of the connecting rods to be separated to two sides, and then the two bottom supporting fingers 32 are driven to symmetrically move outwards, so that the symmetrical centering unfolding movement of the bottom supporting finger 32 is completed.

And (3) power source butt joint: the linear motor assembly 41 ascends and simultaneously transmits power to the power source sliding table assembly 46 which is also hinged with the other end of the chain 39 through the chain wheel 37, so that the power source sliding table assembly 46 is driven to descend. The power input interface of the gear box assembly 26 is inserted and screwed, and the power source construction is completed. The tightening power of the power source can now be directly transferred to the tightening gearbox assembly 26, as shown in fig. 14.

The tightening operation starts: the power source motor 50 drives the tightening sleeve 58 output by the tail end of the tightening gear box assembly 26 to rotate, the tightening gear box assembly 26 is driven by the lifting sliding table plate 11 to drive the tightening central system 6 to further ascend in a linkage manner, cap recognition is completed, cap recognition is considered successful after a torque value detected by a miniature torque sensor integrated at the tightening sleeve 58 and the lifting height reach a process set value, the tightening sleeve 58 continues to apply torque, meanwhile, the sleeve ascending distance and the sleeve rotating angle value are detected, and once tightening is considered completed when the torque value and the lifting height reach a specified process value.

And (5) screwing the next nut: the bottom support finger 32 is retracted and the tightening sleeve 58 is rotated a specific angle and then moved down to a specified height, and the upper tooling indexing positioning system 4 is moved to the diagonal position following the diagonal tightening process route, repeating the previous tightening operation until the complete nut is tightened.

And (3) finishing the operation: and the numerical control system controls all motors and cylinders to return to zero again, and after the self-checking zero-returning operation of the numerical control system is finished, the equipment is lifted off the engine integrally.

If the capping operation is required, a step of putting the nut into the tightening sleeve 58 is added before the fourth step, so that the capping operation can be considered.

The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. The semi-automatic tightening equipment for the narrow space is characterized by comprising a power source lifting system (1), an upper tooling horizontal feeding system (2), an upper tooling lifting system (3), an upper tooling indexing positioning system (4), a tightening central system (6) and a bottom supporting system (7), wherein the power source lifting system (1), the upper tooling horizontal feeding system (2), the upper tooling lifting system (3) and the upper tooling indexing positioning system (4) are sequentially connected from top to bottom, the tightening central system (6) is connected with the upper tooling lifting system (3), and the bottom supporting system (7) is connected to the bottom of the tightening central system (6); the power source lifting system (1) is used for completing the butt joint action of the tightening power source, the upper tooling horizontal feeding system (2) is used for completing the integral horizontal feeding of the power source lifting system (1), the upper tooling lifting system (3) is used for completing the lifting movement of the tightening central system (6), the upper tooling indexing positioning system (4) is used for completing the rotation indexing of the tightening central system (6), the tightening central system (6) is used for completing the tightening power output, and the bottom supporting system (7) is used for assisting the tightening central system (6) to complete radial supporting.

2. The narrow space semiautomatic tightening equipment according to claim 1, wherein the upper tooling lifting system (3) comprises a lifting driving cylinder (8), a lifting sliding table top plate (9), a lifting sliding table guide assembly (10), a lifting sliding table plate (11) and a lifting sliding table mounting base (13), wherein the lifting sliding table top plate (9) is arranged above the lifting sliding table mounting base (13) and is fixedly connected through the lifting sliding table guide assembly (10), the lifting sliding table plate (11) is in sliding fit with the lifting sliding table guide assembly (10), the lifting driving cylinder (8) is arranged on the lifting sliding table plate (11), the output end of the lifting driving cylinder is connected with the lifting sliding table top plate (9), the lifting driving cylinder (8) provides power for lifting of the lifting sliding table plate (11), and the lifting sliding table guide assembly (10) provides guide for lifting of the lifting sliding table plate (11).

3. The small space semiautomatic tightening equipment according to claim 2, wherein the upper tooling horizontal feeding system (2) comprises a translation driving motor (14), a translation sliding table plate (15), a translation driving gear (16), a translation linear guide rail (17) and a translation rack (18), wherein the translation linear guide rail (17) and the translation rack (18) are arranged on the lifting sliding table plate (11) in parallel, the translation sliding table plate (15) is in sliding fit with the translation linear guide rail (17), the translation driving motor (14) is arranged on the translation sliding table plate (15), an output end is connected with the translation driving gear (16), and the translation driving gear (16) is meshed with the translation rack (18); the translation driving motor (14) provides power for the horizontal movement of the translation sliding table plate (15) along the translation linear guide rail (17).

4. The small space semiautomatic tightening equipment according to claim 2, wherein the upper tool indexing positioning system (4) comprises an indexing bearing seat assembly (21), an indexing fixed large gear (22), a tool base (23), an indexing driving pinion assembly (25) and an indexing driving motor, wherein the tool base (23) is arranged below the lifting sliding table mounting base (13), and is rotationally connected with the lifting sliding table mounting base (13) through the indexing bearing seat assembly (21), the indexing fixed large gear (22) is coaxially fixed on the outer side of the indexing bearing seat assembly (21), the indexing driving motor is arranged on the lifting sliding table mounting base (13), the output end of the indexing driving motor is connected with the indexing driving pinion assembly (25), and the indexing driving pinion assembly (25) is meshed with the indexing fixed large gear (22).

5. The small space semiautomatic tightening equipment according to claim 1, wherein the power source lifting system (1) comprises a flexible belt transmission mechanism, a linear motor assembly (41), a linear motor guide rail (42), a power source sliding table assembly (46), a power source lifting base assembly (47), a lifting sliding table execution sliding rail (48) and a power source assembly (53), wherein the power source lifting base assembly (47) is fixed on the upper tooling horizontal feeding system (2), the lifting sliding table execution sliding rail (48) and the linear motor guide rail (42) are respectively arranged on the front surface and the back surface of the power source lifting base assembly (47), and the linear motor assembly (41) is in sliding fit with the linear motor guide rail (42) for outputting power along the vertical direction; the power source sliding table assembly (46) is in sliding fit with the lifting sliding table execution sliding rail (48), and the power source assembly (53) is arranged at the lower end of the power source sliding table assembly (46); the flexible belt transmission mechanism is arranged on the power source lifting base assembly (47), two ends of the flexible belt transmission mechanism are respectively connected with the linear motor assembly (41) and the power source sliding table assembly (46), and the flexible belt transmission mechanism is used for transmitting power of the linear motor assembly (41) to the power source sliding table assembly (46) so that the power source sliding table assembly (46) can lift.

6. The small space semiautomatic tightening equipment according to claim 5, characterized in that the power source assembly (53) comprises a power source speed reducer (49), a power source motor (50), a gear box assembly (51) and a miniature torque rotation angle sensor (52), wherein an input shaft of the power source speed reducer (49) is connected with the power source motor (50), an output shaft of the power source speed reducer (49) is connected with an input shaft of the gear box assembly (51), an axis of the output shaft of the gear box assembly (51) is arranged along a vertical direction, and the miniature torque rotation angle sensor (52) is coaxially installed with the output shaft of the gear box assembly (51).

7. The small space semiautomatic tightening equipment according to claim 1, wherein the tightening central system (6) comprises a protection barrel assembly (20) and a tightening gear box assembly (26), wherein the upper end of the protection barrel assembly (20) is connected with the upper tooling lifting system (3), and the tightening gear box assembly (26) is arranged at the bottom of the protection barrel assembly (20);

the tightening gear box assembly (26) comprises a gear box base (29), a folding gear box assembly I (27) and a folding gear box assembly II (28) which are connected to the gear box base (29) in a sliding manner, wherein the folding gear box assembly I (27) and the folding gear box assembly II (28) are in transmission connection, and shells of the folding gear box assembly I (27) and the folding gear box assembly II (28) are hinged with each other; a tightening input shaft (59) is arranged on the folding gearbox assembly I (27), and a tightening sleeve (58) is arranged on an output shaft of the folding gearbox assembly II (28).

8. The small space semiautomatic tightening equipment according to claim 7, characterized in that the tail of the folding gearbox assembly i (27) is provided with a hanging ring; a rack assembly (56) is arranged on the folding gear box assembly II (28) along the translation direction of the tightening gear box assembly (26); an interface is arranged on the gear box base (29) corresponding to the rack assembly (56);

during working, the lifting ring is hooked by a long rod hook (54) manually, and the folding gearbox assembly I (27) is driven to swing flat; the manual work is meshed with a rack assembly (56) at the interface of the gear box base (29) through a gear shaft long rod (55), and the tightening gear box assembly (26) is driven to translate forwards by rotating the gear shaft long rod (55).

9. The small space semiautomatic tightening equipment according to claim 1, characterized in that the bottom support system (7) comprises a bottom support base (31), a bottom support finger (32), a bottom link assembly (33), a bottom link pusher (34), a bottom drive cylinder (35) and a protective shell (36), wherein the top of the bottom support base (31) is slidingly connected with two bottom support fingers (32); the bottom driving cylinder (35) is arranged on the bottom supporting base (31), the output end of the bottom driving cylinder is connected with the bottom connecting rod assembly (33) through the bottom connecting rod push head (34), the bottom connecting rod assembly (33) is connected with the two bottom supporting fingers (32), and the protective shell (36) is arranged on the outer side of the bottom driving cylinder (35); the bottom drive cylinder (35) drives the two bottom support fingers (32) through the bottom link assembly (33) to complete the centering deployment motion.

10. The small space semiautomatic tightening equipment according to claim 9, characterized in that the bottom link assembly (33) comprises two links, the lower ends of which are hinged to the bottom link pusher (34) by means of hinge shafts, and the upper ends of which are hinged to the two bottom supporting fingers (32), respectively.