CN118595807A - A two-way folding and unfolding special tightening device for aviation equipment nuts - Google Patents

Abstract

The special screwing equipment for the nut of the bidirectional folding aviation equipment comprises a rack, a screwing machine, a screwing motor, a three-way flexible cable pulling mechanism, a hollow support rod, a nut screwing gear transmission mechanism, a nut screwing wrench, a longitudinal folding and unfolding executing mechanism and a transverse folding and unfolding executing mechanism; according to the special nut tightening device for the bidirectional folding aviation equipment, provided by the invention, under the condition that the basic nut tightening function is unchanged, the bidirectional folding function of the tightening device is provided, even if the size of the inlet of the cavity where the fastening position of the aviation equipment is located is smaller, the size of the nut tightening wrench can be reduced through folding, the nut tightening wrench in a folded state can smoothly enter the cavity through the inlet of the cavity, and then the size of the nut tightening wrench can be restored through unfolding, so that the nut tightening wrench is in a working state, further, the nut tightening work in the cavity can be smoothly completed, the service scene of the tightening device is effectively expanded, and the application range of the tightening device is increased.

Description

A two-way folding and unfolding special tightening device for aviation equipment nuts

Technical Field

The invention belongs to the technical field of aviation equipment assembly, and in particular relates to a two-way folding and unfolding type special tightening device for aviation equipment nuts.

Background Art

In the aviation field, many aviation equipment are fastened with bolts and nuts in the circumferential direction, and the nut installation and tightening work is currently mainly completed manually. Due to the particularity of aviation equipment, there are usually strict requirements on the tightening torque of the nuts, and the nut installation and tightening process usually has the requirements of "tighten → loosen → tighten again", which leads to very high labor intensity and very low work efficiency for workers.

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

To this end, the Chinese patent application with application number 202210449031.X discloses a special tightening device for aviation equipment nuts, which can replace manual methods to complete the nut tightening work, effectively reduce the labor intensity of workers, and even if the fastening position is in a harsh working environment, the nut installation and tightening operation can be completed efficiently.

However, the above patent application still has certain limitations in practical application. For example, in some aviation equipment, the fastening position is located inside the cavity, but the entrance size of the cavity is significantly smaller than the size of the nut tightening wrench of the tightening device, resulting in the nut tightening wrench being unable to enter the cavity through the cavity entrance, and thus unable to complete the nut tightening work inside the cavity.

Summary of the invention

In view of the problems existing in the prior art, the present invention provides a two-way foldable special tightening device for aviation equipment nuts. While the basic function of nut tightening remains unchanged, the tightening device is given a two-way folding function. Even if the entrance size of the cavity where the fastening position of the aviation equipment is located is small, the size of the nut tightening wrench can be reduced by folding, so that the nut tightening wrench in the folded state can smoothly pass through the cavity entrance into the cavity, and then the size of the nut tightening wrench can be restored by unfolding, so that the nut tightening wrench is in a working state, and the nut tightening work inside the cavity can be successfully completed, thereby effectively expanding the use scenarios of the tightening device and improving the application scope of the tightening device.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a two-way folding and unfolding aviation equipment nut special tightening equipment, including a frame, a tightening machine, a screwing motor, a three-channel soft cable pulling mechanism, a hollow support rod, a nut screwing gear transmission mechanism, a nut tightening wrench, a longitudinal folding and unfolding actuator and a transverse folding and unfolding actuator; the frame is fixedly connected to the power output shaft of the tightening machine; the screwing motor and the three-channel soft cable pulling mechanism are both installed on the frame; one end of the hollow support rod is fixedly connected to the frame; the nut screwing gear transmission mechanism is arranged at the other end of the hollow support rod; the hollow support rod Distributed coaxially with the motor shaft of the screwing motor, a force transmission shaft is arranged inside the hollow support rod, one end of the force transmission shaft is coaxially fixedly connected with the motor shaft of the screwing motor, and the other end of the force transmission shaft is connected to the power input end of the nut screwing gear transmission mechanism; the nut tightening wrench is transmission connected to the power output end of the nut screwing gear transmission mechanism; the longitudinal folding and spreading actuator is arranged between the hollow support rod and the nut screwing gear transmission mechanism; the transverse folding and spreading actuator is arranged between the hollow support rod and the nut tightening wrench; the three-channel flexible cable pulling mechanism is transmission connected to the nut tightening wrench through three flexible cables.

The nut-twisting gear transmission mechanism includes a driving bevel gear, a first driven bevel gear, a second driven bevel gear, a double-ear adapter frame and an in-line gear transmission box; the horizontal cross plate of the double-ear adapter frame is fixedly connected to the bottom end of the hollow support rod; the driving bevel gear is coaxially fixed on the bottom end of the power transmission shaft; a support shaft is fixedly installed on the vertical ear plate of the double-ear adapter frame, and the support shaft is vertically distributed with the power transmission shaft; the first driven bevel gear is coaxially sleeved on the support shaft through a bearing, and the first driven bevel gear is meshed with the driving bevel gear; the second driven bevel gear is coaxially fixed on the power input shaft of the in-line gear transmission box, the second driven bevel gear is meshed with the first driven bevel gear, and the second driven bevel gear is coaxially distributed with the driving bevel gear.

The longitudinal folding and expansion actuator includes a longitudinal folding and expansion drive motor, a lead screw, a nut slider, a push-pull rod, a first connecting rod, a lever and a longitudinal flip support plate; the longitudinal folding and expansion drive motor is fixedly embedded on the outside of the hollow support rod, and the motor shaft of the longitudinal folding and expansion drive motor is distributed parallel to the force transmission shaft; one end of the lead screw is coaxially fixedly connected to the motor shaft of the longitudinal folding and expansion drive motor, and the other end of the lead screw is rotatably connected to the hollow support rod through a bearing seat; the nut slider is sleeved on the lead screw, and the nut slider is in sliding contact with the outer surface of the hollow support rod; one end of the push-pull rod is fixedly connected to the nut slider, and the other end of the push-pull rod is hinged to one end of the first connecting rod, and the other end of the first connecting rod is hinged to one end of the lever, and the other end of the lever is hinged to the longitudinal flip support plate; a push-pull rod guide groove is provided between the hollow support rod and the push-pull rod; the middle fulcrum of the lever is hinged to the support shaft; one end of the longitudinal flip support plate is hinged to the support shaft.

The transverse folding and spreading actuator comprises a transverse folding and spreading drive motor, a force transmission rod, a universal joint coupling, a driving spur gear, a driven spur gear, a second connecting rod and a third connecting rod; the transverse folding and spreading drive motor is fixedly embedded on the outside of the hollow support rod, and the motor shaft of the transverse folding and spreading drive motor is distributed in parallel with the force transmission shaft; one end of the force transmission rod is coaxially fixedly connected with the motor shaft of the transverse folding and spreading drive motor, and the other end of the force transmission rod is coaxially fixedly connected with the gear shaft of the driving spur gear through a universal joint coupling; the gear shaft of the driving spur gear is rotatably connected with the longitudinal flip support plate through a bearing, and the driving spur gear is meshed with the driven spur gear; the gear shaft of the driven spur gear is rotatably connected with the longitudinal flip support plate through a bearing; one end of the second connecting rod is fixedly connected to the gear shaft of the driven spur gear, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the nut tightening wrench; the second connecting rod, the third connecting rod, the nut tightening wrench and the longitudinal flip support plate constitute a four-bar mechanism.

The nut tightening wrench includes a housing, a cover, an input end gear, an intermediate transmission gear set, an output end gear, a nut tightening sleeve, a nut tightening control component and a nut picking control component; the input end gear, the intermediate transmission gear set, the output end gear and the nut tightening sleeve are arranged in a straight line sequence inside the housing; the gear shaft of the input end gear is rotatably connected to the longitudinal flip support plate through a bearing, and the input end gear is meshed with the power output gear of the in-line gear transmission box; the third connecting rod is hinged on the housing; the cover is fixedly connected to the housing, and the internal space of the housing is sealed by the cover; the gear shaft of the input end gear is rotatably connected to the housing and the cover through bearings; all the intermediate transmission gears in the intermediate transmission gear set are The gear shaft of the wheel is rotatably connected to the housing and the cover through bearings, and the input-end gear is meshed with the intermediate transmission gear set for transmission; the gear shaft of the output-end gear is rotatably connected to the housing and the cover through bearings, and the output-end gear is meshed with the intermediate transmission gear set for transmission; the nut screwing sleeve is arranged in the housing through a sleeve limit plate, and the nut screwing sleeve only has rotational freedom under the limitation of the sleeve limit plate; the sleeve limit plate is fixedly connected to the housing through a limit plate block; a sleeve outlet hole is provided on the housing directly opposite to the nut screwing sleeve; the nut tightening control assembly is located outside the sleeve outlet hole and is arranged on the housing; the nut picking control assembly is located outside the sleeve outlet hole and is arranged on the nut tightening control assembly.

A transmission outer gear ring and a ratchet gear ring are respectively arranged axially on the outer surface of the nut tightening sleeve; the nut tightening sleeve where the transmission outer gear ring is located is located inside the shell, and the transmission outer gear ring is meshed with the output end gear for transmission; the nut tightening sleeve where the ratchet gear ring is located is located outside the shell; the inner surface of the nut tightening sleeve located outside the shell is set as a twelve-angle hole, and the twelve-angle hole is used in conjunction with the nut to be tightened; the nut tightening sleeve is coaxially arranged with the power output shaft of the tightening machine.

The nut tightening control assembly includes a support frame, a left pawl and a right pawl; the support frame is fixedly connected to the shell; the left pawl and the right pawl are arranged in a mirror-symmetrical manner inside the support frame; the root of the left pawl is hinged to the support frame, and a ratchet is arranged on the top of the left pawl, and the left pawl cooperates with the ratchet gear ring on the nut screwing sleeve through the ratchet at its top; a left pawl reset spring is arranged between the left pawl and the support frame; the left pawl is connected to the three-channel soft cable pulling mechanism through a first soft cable; the root of the right pawl is hinged to the support frame, and a ratchet is arranged on the top of the right pawl, and the right pawl cooperates with the ratchet gear ring on the nut screwing sleeve through the ratchet at its top; a right ratchet reset spring is arranged between the right pawl and the support frame; the right pawl is connected to the three-channel soft cable pulling mechanism through a second soft cable.

The nut picking control assembly includes a positioning frame and a nut pressure plate; the positioning frame is fixedly connected to the support frame; the nut pressure plate is arranged inside the positioning frame, and a pressure plate return spring is arranged between the nut pressure plate and the support frame; the nut pressure plate is used in conjunction with the nut to be tightened; the nut pressure plate is connected to the three-channel flexible cable pulling mechanism through a third flexible cable; a flexible cable limiting plate for limiting the position of the first flexible cable, the second flexible cable and the third flexible cable is also arranged outside the shell.

Beneficial effects of the present invention:

The two-way folding and unfolding special tightening device for nuts of aviation equipment of the present invention has a two-way folding and unfolding function while the basic function of nut tightening remains unchanged. Even if the entrance size of the cavity where the fastening position of the aviation equipment is located is small, the size of the nut tightening wrench can be reduced by folding, so that the nut tightening wrench in the folded state can smoothly pass through the cavity entrance and enter the cavity. Then, the size of the nut tightening wrench is restored by unfolding, so that the nut tightening wrench is in a working state, and the nut tightening work inside the cavity can be successfully completed, which effectively expands the use scenarios of the tightening device and improves the application scope of the tightening device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a bidirectional foldable aviation equipment nut tightening device (the nut tightening wrench is in a fully unfolded state) of the present invention (viewing angle 1);

FIG2 is a structural schematic diagram of a bidirectional foldable aviation equipment nut tightening device (the nut tightening wrench is in a horizontally folded state) of the present invention (viewing angle 2);

FIG3 is a structural schematic diagram of a two-way foldable aviation equipment nut tightening device (the nut tightening wrench is in a fully folded state) of the present invention (viewing angle 2);

FIG4 is a structural schematic diagram (viewing angle 2) of a bidirectional foldable aviation equipment nut tightening device of the present invention (the nut tightening wrench is in a fully unfolded state, and the longitudinal foldable actuator is in a partially exploded display state);

FIG5 is a structural schematic diagram (viewing angle 3) of a bidirectional foldable aviation equipment nut tightening device of the present invention (the nut tightening wrench is in a fully unfolded state, and the transverse foldable actuator is in a partially exploded display state);

FIG6 is an exploded view of the nut tightening wrench of the present invention;

FIG7 is a schematic structural diagram of a nut screwing sleeve according to the present invention;

FIG8 is a schematic diagram of the cooperation between the nut screwing sleeve and the left pawl and the right pawl of the present invention (initial state);

FIG9 is a schematic diagram of the cooperation between the nut screwing sleeve and the left and right ratchet pawls of the present invention (high torque tightening state);

FIG10 is a schematic diagram of the cooperation between the nut screwing sleeve and the left and right pawls of the present invention (large torque relaxation state);

In the figure, 1 is a frame, 2 is a tightening machine, 3 is a screwing motor, 4 is a three-channel soft cable pulling mechanism, 5 is a hollow support rod, 6 is a nut screwing gear transmission mechanism, 7 is a nut tightening wrench, 8 is a longitudinal folding actuator, 9 is a transverse folding actuator, 10 is a force transmission shaft, 11 is an active bevel gear, 12 is a first driven bevel gear, 13 is a second driven bevel gear, 14 is a double-ear adapter, 15 is an in-line gear transmission box, 16 is a support shaft, 17 is a longitudinal folding drive motor, 18 is a lead screw, 19 is a nut slider, 20 is a push-pull rod, 21 is a first connecting rod, 22 is a lever, 23 is a longitudinal flip support plate, 24 is a transverse folding drive motor, 25 is a force transmission rod, 26 is a universal joint coupling, and 27 is an active spur gear. , 28—driven spur gear, 29—second connecting rod, 30—third connecting rod, 31—housing, 32—cover, 33—input end gear, 34—intermediate transmission gear set, 35—output end gear, 36—nut screwing sleeve, 37—nut tightening control assembly, 38—nut picking control assembly, 39—sleeve limit plate, 40—limit plate block, 41—transmission outer gear ring, 42—ratchet gear ring, 43—twelve-angle hole, 44—support frame, 45—left ratchet, 46—right ratchet, 47—left ratchet reset spring, 48—first flexible rope, 49—right ratchet reset spring, 50—second flexible rope, 51—positioning frame, 52—nut pressure plate, 53—pressure plate reset spring, 54—third flexible rope, 55—flexible rope limit plate.

DETAILED DESCRIPTION

The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 10, a two-way folding and unfolding special tightening device for aviation equipment nuts includes a frame 1, a tightening machine 2, a screwing motor 3, a three-channel soft cable pulling mechanism 4, a hollow support rod 5, a nut screwing gear transmission mechanism 6, a nut tightening wrench 7, a longitudinal folding and unfolding actuator 8 and a transverse folding and unfolding actuator 9; the frame 1 is fixedly connected to the power output shaft of the tightening machine 2; the screwing motor 3 and the three-channel soft cable pulling mechanism 4 are both installed on the frame; one end of the hollow support rod 5 is fixedly connected to the frame 1; the nut screwing gear transmission mechanism 6 is arranged at the other end of the hollow support rod 5; the hollow support rod 5 and the screwing motor 3 are fixedly connected to each other. The motor shafts are coaxially distributed, and a force transmission shaft 10 is arranged inside the hollow support rod 5. One end of the force transmission shaft 10 is coaxially fixedly connected to the motor shaft of the screwing motor 3, and the other end of the force transmission shaft 10 is connected to the power input end of the nut screwing gear transmission mechanism 6; the nut tightening wrench 7 is transmission connected to the power output end of the nut screwing gear transmission mechanism 6; the longitudinal folding and spreading actuator 8 is arranged between the hollow support rod 5 and the nut screwing gear transmission mechanism 6; the transverse folding and spreading actuator 9 is arranged between the hollow support rod 5 and the nut tightening wrench 7; the three-channel flexible cable pulling mechanism 4 is transmission connected to the nut tightening wrench 7 through three flexible cables.

The nut screwing gear transmission mechanism 6 includes a driving bevel gear 11, a first driven bevel gear 12, a second driven bevel gear 13, a double-ear adapter frame 14 and an in-line gear transmission box 15; the horizontal cross plate of the double-ear adapter frame 14 is fixedly connected to the bottom end of the hollow support rod 5; the driving bevel gear 11 is coaxially fixedly mounted on the bottom end of the power transmission shaft 10; a support shaft 16 is fixedly mounted on the vertical ear plate of the double-ear adapter frame 14, and the support shaft 16 is vertically distributed with the power transmission shaft 10; the first driven bevel gear 12 is coaxially sleeved on the support shaft 16 through a bearing, and the first driven bevel gear 12 is meshed with the driving bevel gear 11; the second driven bevel gear 13 is coaxially fixedly mounted on the power input shaft of the in-line gear transmission box 15, the second driven bevel gear 13 is meshed with the first driven bevel gear 12, and the second driven bevel gear 13 is coaxially distributed with the driving bevel gear 11.

The longitudinal folding and spreading actuator 8 comprises a longitudinal folding and spreading drive motor 17, a lead screw 18, a nut slider 19, a push-pull rod 20, a first connecting rod 21, a lever 22 and a longitudinal flip support plate 23; the longitudinal folding and spreading drive motor 17 is fixedly embedded on the outside of the hollow support rod 5, and the motor shaft of the longitudinal folding and spreading drive motor 17 is parallel to the force transmission shaft 10; one end of the lead screw 18 is coaxially fixedly connected to the motor shaft of the longitudinal folding and spreading drive motor 17, and the other end of the lead screw 18 is rotatably connected to the hollow support rod 5 through a bearing seat; the nut slider 19 is sleeved on the lead screw 18, the nut slider 19 is in sliding contact with the outer surface of the hollow support rod 5; one end of the push-pull rod 20 is fixedly connected to the nut slider 19, the other end of the push-pull rod 20 is hinged to one end of the first connecting rod 21, the other end of the first connecting rod 21 is hinged to one end of the lever 22, and the other end of the lever 22 is hinged to the longitudinal flip support plate 23; a push-pull rod guide groove is provided between the hollow support rod 5 and the push-pull rod 20; the middle fulcrum of the lever 22 is hinged to the support shaft 16; one end of the longitudinal flip support plate 23 is hinged to the support shaft 16.

The transverse folding actuator 9 includes a transverse folding drive motor 24, a force transmission rod 25, a universal joint coupling 26, a driving spur gear 27, a driven spur gear 28, a second connecting rod 29 and a third connecting rod 30; the transverse folding drive motor 24 is fixedly embedded on the outside of the hollow support rod 5, and the motor shaft of the transverse folding drive motor 24 is parallel to the force transmission shaft 10; one end of the force transmission rod 25 is coaxially fixedly connected to the motor shaft of the transverse folding drive motor 24, and the other end of the force transmission rod 25 is coaxially fixedly connected to the gear shaft of the driving spur gear 27 through the universal joint coupling 26; the driving spur gear The gear shaft of the gear 27 is rotatably connected to the longitudinal flip support plate 23 through a bearing, and the active spur gear 27 is meshed with the driven spur gear 28; the gear shaft of the driven spur gear 28 is rotatably connected to the longitudinal flip support plate 23 through a bearing; one end of the second connecting rod 29 is fixedly connected to the gear shaft of the driven spur gear 28, and the other end of the second connecting rod 29 is hinged to one end of the third connecting rod 30, and the other end of the third connecting rod 30 is hinged to the nut tightening wrench 7; the second connecting rod 29, the third connecting rod 30, the nut tightening wrench 7 and the longitudinal flip support plate 23 constitute a four-bar mechanism.

The nut tightening wrench 7 includes a housing 31, a cover 32, an input end gear 33, an intermediate transmission gear set 34, an output end gear 35, a nut tightening sleeve 36, a nut tightening control component 37 and a nut picking control component 38; the input end gear 33, the intermediate transmission gear set 34, the output end gear 35 and the nut tightening sleeve 36 are arranged in a straight line sequence inside the housing 31; the gear shaft of the input end gear 33 is rotatably connected to the longitudinal flip support plate 23 through a bearing, and the input end gear 33 is meshed with the power output gear of the in-line gear transmission box 15; the third connecting rod 30 is hinged on the housing 31; the cover 32 is fixedly connected to the housing 31, and the internal space of the housing 32 is sealed by the cover 32; the gear shaft of the input end gear 33 is rotatably connected to the housing 31 and the cover 32 through a bearing; all the intermediate transmission gears in the intermediate transmission gear set 34 are connected to the housing 31 and the cover 32. The gear shaft of the intermediate transmission gear is rotatably connected to the housing 31 and the cover 32 through bearings, and the input end gear 33 is meshed with the intermediate transmission gear set 34 for transmission; the gear shaft of the output end gear 35 is rotatably connected to the housing 31 and the cover 32 through bearings, and the output end gear 35 is meshed with the intermediate transmission gear set 34 for transmission; the nut screwing sleeve 36 is arranged in the housing 31 through a sleeve limit plate 39, and the nut screwing sleeve 36 only has rotational freedom under the limitation of the sleeve limit plate 39; the sleeve limit plate 39 is fixedly connected to the housing 31 through a limit plate block 40; a sleeve outlet hole is opened on the housing 31 opposite to the nut screwing sleeve 36; the nut tightening control component 37 is located outside the sleeve outlet hole and is arranged on the housing 31; the nut picking control component 38 is located outside the sleeve outlet hole and is arranged on the nut tightening control component 37.

A transmission outer gear ring 41 and a ratchet gear ring 42 are respectively arranged on the outer surface of the nut tightening sleeve 36 along the axial direction; the nut tightening sleeve 36 where the transmission outer gear ring 41 is located is located inside the shell 31, and the transmission outer gear ring 41 is meshed with the output end gear 35 for transmission; the nut tightening sleeve 36 where the ratchet gear ring 42 is located is located outside the shell 31; the inner surface of the nut tightening sleeve 36 located outside the shell 31 is set as a twelve-angle hole 43, and the twelve-angle hole 43 is used in conjunction with the nut to be tightened; the nut tightening sleeve 36 is coaxially arranged with the power output shaft of the tightening machine 2.

The nut tightening control assembly 37 includes a support frame 44, a left pawl 45 and a right pawl 46; the support frame 44 is fixedly connected to the housing 31; the left pawl 45 and the right pawl 46 are arranged in a mirror-symmetrical manner inside the support frame 44; the root of the left pawl 45 is hinged to the support frame 44, and a ratchet is arranged on the top of the left pawl 45. The left pawl 45 cooperates with the ratchet gear ring 42 on the nut screwing sleeve 36 through the ratchet at its top; a left ratchet is arranged between the left pawl 45 and the support frame 44 Claw reset spring 47; the left pawl 45 is connected to the three-channel soft cable pulling mechanism 4 through a first soft cable 48; the root of the right pawl 46 is hinged to the support frame 44, and a ratchet is provided on the top of the right pawl 46. The right pawl 46 cooperates with the ratchet gear ring 42 on the nut screwing sleeve 36 through the ratchet at its top; a right pawl reset spring 49 is provided between the right pawl 46 and the support frame 44; the right pawl 46 is connected to the three-channel soft cable pulling mechanism 4 through a second soft cable 50.

The nut picking control assembly 38 includes a positioning frame 51 and a nut pressure plate 52; the positioning frame 51 is fixedly connected to the support frame 44; the nut pressure plate 52 is arranged inside the positioning frame 51, and a pressure plate return spring 53 is arranged between the nut pressure plate 52 and the support frame 44; the nut pressure plate 52 is used in conjunction with the nut to be tightened; the nut pressure plate 52 is connected to the three-channel flexible cable pulling mechanism 4 through the third flexible cable 54; a flexible cable limiting plate 55 for limiting the position of the first flexible cable 48, the second flexible cable 50 and the third flexible cable 54 is also arranged outside the shell 31.

The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

First, a mechanical arm is selected, and the bidirectional folding aviation equipment nut tightening device of the present invention is used as the end picker of the mechanical arm, and is specifically assembled and connected with the mechanical arm through the tightening machine 2. Within the range covered by the mechanical arm, two areas are set, one as the assembly area of aviation equipment, and the other as the parts area, and the nuts to be installed are placed in the parts area.

When the entrance size of the cavity where the fastening position of the aviation equipment is located is smaller than the nut tightening wrench 7 in the expanded state, in order to allow the nut tightening wrench 7 to smoothly enter the cavity, the nut tightening wrench 7 needs to be adjusted from the expanded state to the folded state. Before making the adjustment, the nut picking is completed from the parts area using the nut tightening wrench 7 in the expanded state.

First, the bidirectional folding aviation equipment nut tightening device of the present invention is moved to the parts area by a robotic arm, and then the nut is sent into the twelve-angle hole 43 of the nut tightening sleeve 36, and at the same time, the three-channel soft rope pulling mechanism 4 is started to pay out the third soft rope 54, and under the thrust of the pressure plate reset spring 53, the nut will be pressed and fixed on the nut tightening wrench 7 through the nut pressure plate 52.

After the nut is clamped and fixed on the nut tightening wrench 7, the lateral folding drive motor 24 of the lateral folding actuator 9 is started first to drive the force transmission rod 25 to rotate, and drive the active spur gear 27 to rotate synchronously through the universal joint coupling 26, and then drive the driven spur gear 28 meshing therewith to rotate. The rotating driven spur gear 28 will drive the second connecting rod 29 to swing, and then drive the nut tightening wrench 7 to swing horizontally backward around the gear shaft of the input end gear 33 through the third connecting rod 30, until a V shape is formed between the nut tightening wrench 7 and the longitudinal flip support plate 23, and the lateral folding of the nut tightening wrench 7 is completed at this time.

When the nut tightening wrench 7 completes the horizontal folding, the longitudinal folding drive motor 17 of the longitudinal folding actuator 8 is started to drive the screw 18 to rotate. The rotational motion of the screw 18 will be synchronously converted into the linear motion of the nut slider 19. The nut slider 19 will synchronously drive the push-pull rod 20 to perform a linear sliding motion, and then drive the lever 22 to make a rotational motion around the support shaft 16 through the first connecting rod 21, and finally drive the longitudinal flip support plate 23 to make a rotational motion around the support shaft 16 through the lever 22, until the flip support plate 23 changes from a horizontal state to a vertical state. At this time, the nut tightening wrench 7 has completed refolding and is in a fully folded state, and the size is reduced to a minimum.

When the nut tightening wrench 7 is in a fully folded state, the bidirectional folding aviation equipment nut tightening device of the present invention is moved to the assembly area by a robotic arm, so that the nut tightening wrench 7 in the fully folded state is directly above the entrance of the cavity where the aviation equipment fastening position is located, and then the nut tightening wrench 7 in the fully folded state is controlled to fall until the nut tightening wrench 7 in the fully folded state successfully passes through the cavity entrance and enters the cavity.

When the nut tightening wrench 7 in the fully folded state enters the cavity, the longitudinal folding drive motor 17 is first started in reverse to restore the flip support plate 23 from a vertical state to a horizontal state, and then the transverse folding actuator 9 is started in reverse to restore the nut tightening wrench 7 and the longitudinal flip support plate 23 from a V-shaped posture to a straight posture, and the second connecting rod 29 and the third connecting rod 30 are also restored to a straight line, so that the second connecting rod 29, the third connecting rod 30, the nut tightening wrench 7 and the flip support plate 23 constitute a four-bar mechanism in the direction of the second connecting rod 29 and the third connecting rod 30. At this time, the nut tightening wrench 7 is in a fully expanded state.

When the nut tightening spanner 7 is in the fully extended state, the position of the nut tightening spanner 7 is finely adjusted to make the nut and the screw rod coaxial, and then the height of the nut tightening spanner 7 is adjusted until the nut falls accurately to the top of the screw rod.

When the nut falls to the top of the screw, the three-channel soft cable pulling mechanism 4 is started to reel in the third soft cable 54, and the nut pressing plate 52 is pulled away from the nut through the third soft cable 54, and the pressing plate reset spring 53 returns to the compressed state.

When the nut pressing plate 52 is pulled away from the nut, the screwing motor 3 is started to drive the force transmission shaft 10 inside the hollow support rod 5 to rotate, and the rotating force transmission shaft 10 drives the active bevel gear 11 of the nut screwing gear transmission mechanism 6 to rotate, and then drives the first driven bevel gear 12 and the second driven bevel gear 13 to rotate synchronously in turn, and the rotating second driven bevel gear 13 will synchronously drive the power input shaft of the inline gear transmission box 15 to rotate until the power is transmitted to the power output shaft of the inline gear transmission box 15, and the inline gear transmission box 15 is driven by the power output shaft of the inline gear transmission box 15. The power output gear drives the input end gear 33 of the nut tightening wrench 7 to rotate, and then drives the intermediate transmission gear set 34 and the output end gear 35 to rotate, so that the rotating output end gear 35 drives the transmission outer gear ring 41 meshing with it to rotate, and finally drives the nut tightening sleeve 36 to rotate, and drives the nut in the twelve-angle hole 43 to rotate through the rotating nut tightening sleeve 36, so as to realize the screwing of the nut on the screw. During the nut screwing process, the nut tightening wrench 7 follows the axial direction of the screw under the control of the mechanical arm until the nut is screwed into place.

When the nut is screwed into place on the screw rod, the three-channel soft rope pulling mechanism 4 is first started to release the first soft rope 48. Under the thrust of the left pawl reset spring 47, the ratchet on the top of the left pawl 45 is meshed with the ratchet gear ring 42 on the nut screwing sleeve 36. Then the tightening machine 2 is started in the positive direction, and the power output shaft of the tightening machine 2 drives the frame 1 to swing. Since the frame 1 forms an integral body with the four-bar mechanism at the dead point position through the hollow support rod 5, the swinging motion of the frame 1 is synchronously converted into the swinging motion of the nut tightening wrench 7, and finally the nut is tightened with a large torque through the swinging motion of the nut tightening wrench 7.

After the nut is tightened with a high torque, according to the process requirements, it is necessary to loosen the nut that was tightened for the first time, and then tighten it for the second time. Therefore, in order to meet the process requirements, the three-channel soft cable pulling mechanism 4 is first started, and the first soft cable 48 is wound up. The left pawl 45 is pulled away from the ratchet gear ring 42 through the first soft cable 48, and the left ratchet pawl reset spring 47 is restored to the compressed state; at the same time, the second soft cable 50 is released, and under the thrust of the right ratchet pawl reset spring 49, the ratchet at the top of the right pawl 46 is engaged with the ratchet gear ring 42 on the nut tightening sleeve 36, and then the tightening machine 2 is started in reverse, and the power output shaft of the tightening machine 2 drives the frame 1 to swing, and then synchronously drives the nut tightening wrench 7 to swing, and finally the nut is loosened with a high torque through the swinging motion of the nut tightening wrench 7.

When the nut is fully relaxed with a large torque, under the process requirements, the three-channel soft rope pulling mechanism 4 is started, the second soft rope 50 is reeled in, and the right pawl 46 is pulled away from the ratchet gear ring 42 through the second soft rope 50, and the right ratchet pawl reset spring 49 is restored to the compressed state; at the same time, the first soft rope 48 is released, and under the thrust of the left ratchet pawl reset spring 47, the ratchet at the top of the left ratchet 45 is engaged with the ratchet gear ring 42 on the nut screwing sleeve 36, and then the tightening machine 2 is started forward, and the power output shaft of the tightening machine 2 drives the frame 1 to swing, and then synchronously drives the nut tightening wrench 7 to swing, and finally the nut is loosened with a large torque through the swinging motion of the nut tightening wrench 7, thereby realizing the secondary tightening of the nut.

When the nut has completed the process requirements of "tightening → loosening → tightening again", the three-channel soft rope pulling mechanism 4 is started, the first soft rope 48 is reeled in, and the left pawl 45 is pulled away from the ratchet gear ring 42 through the first soft rope 48, and the left ratchet pawl reset spring 47 is restored to the compressed state. At this time, the left pawl 45 and the right pawl 46 are both in the initial state of being separated from the ratchet gear ring 42. Then, the nut tightening wrench 7 is controlled to withdraw, so that the tightened nut is separated from the twelve-angle hole 43 of the nut screwing sleeve 36.

After the nut tightening wrench 7 is evacuated from the tightened nut, the nut tightening wrench 7 is adjusted to a fully folded state again, and then the nut tightening wrench 7 in the fully folded state is withdrawn from the cavity entrance, and then the nut tightening wrench 7 is restored to a fully unfolded state, and finally the bidirectional foldable aviation equipment nut special tightening device of the present invention is moved to the parts area again by the robotic arm, the picking up of the first nut is repeated, and the installation process of the first nut is referred to to complete the subsequent installation and tightening work of other nuts.

The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims (8)

1. A two-way folding and unfolding special tightening device for aviation equipment nuts, characterized in that it includes a frame, a tightening machine, a screwing motor, a three-channel soft cable pulling mechanism, a hollow support rod, a nut screwing gear transmission mechanism, a nut tightening wrench, a longitudinal folding and unfolding actuator and a transverse folding and unfolding actuator; the frame is fixedly connected to the power output shaft of the tightening machine; the screwing motor and the three-channel soft cable pulling mechanism are both installed on the frame; one end of the hollow support rod is fixedly connected to the frame; the nut screwing gear transmission mechanism is arranged at the other end of the hollow support rod; the hollow support rod is connected to the screwing motor The motor shafts are coaxially distributed, and a force transmission shaft is arranged inside the hollow support rod. One end of the force transmission shaft is coaxially fixedly connected to the motor shaft of the screwing motor, and the other end of the force transmission shaft is connected to the power input end of the nut screwing gear transmission mechanism; the nut tightening wrench is transmission connected to the power output end of the nut screwing gear transmission mechanism; the longitudinal folding and spreading actuator is arranged between the hollow support rod and the nut screwing gear transmission mechanism; the transverse folding and spreading actuator is arranged between the hollow support rod and the nut tightening wrench; the three-channel flexible cable pulling mechanism is transmission connected to the nut tightening wrench through three flexible cables. 2. A two-way foldable aviation equipment nut tightening device according to claim 1, characterized in that: the nut screwing gear transmission mechanism comprises an active bevel gear, a first driven bevel gear, a second driven bevel gear, a double-ear adapter frame and an in-line gear transmission box; the horizontal cross plate of the double-ear adapter frame is fixedly connected to the bottom end of the hollow support rod; the active bevel gear is coaxially fixedly mounted on the bottom end of the power transmission shaft; a support shaft is fixedly mounted on the vertical ear plate of the double-ear adapter frame, and the support shaft is vertically distributed with the power transmission shaft; the first driven bevel gear is coaxially sleeved on the support shaft through a bearing, and the first driven bevel gear is meshed with the active bevel gear; the second driven bevel gear is coaxially fixed on the power input shaft of the in-line gear transmission box, the second driven bevel gear is meshed with the first driven bevel gear, and the second driven bevel gear is coaxially distributed with the active bevel gear. 3. A two-way foldable aviation equipment nut tightening device according to claim 2, characterized in that: the longitudinal folding actuator comprises a longitudinal folding drive motor, a screw, a nut slider, a push-pull rod, a first connecting rod, a lever and a longitudinal flip support plate; the longitudinal folding drive motor is fixedly embedded in the outside of the hollow support rod, and the motor shaft of the longitudinal folding drive motor is distributed parallel to the force transmission shaft; one end of the screw is coaxially fixedly connected with the motor shaft of the longitudinal folding drive motor, and the other end of the screw is rotatably connected with the hollow support rod through a bearing seat; the nut slider is sleeved on the screw, and the nut slider is in sliding contact with the outer surface of the hollow support rod; one end of the push-pull rod is fixedly connected to the nut slider, the other end of the push-pull rod is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the lever, and the other end of the lever is hinged to the longitudinal flip support plate; a push-pull rod guide slot is provided between the hollow support rod and the push-pull rod; the middle fulcrum of the lever is hinged on the support shaft; one end of the longitudinal flip support plate is hinged on the support shaft. 4. A two-way foldable aviation equipment nut tightening device according to claim 3, characterized in that: the lateral folding actuator includes a lateral folding drive motor, a force transmission rod, a universal joint coupling, a driving spur gear, a driven spur gear, a second connecting rod and a third connecting rod; the lateral folding drive motor is fixedly embedded on the outside of the hollow support rod, and the motor shaft of the lateral folding drive motor is parallel to the force transmission shaft; one end of the force transmission rod is coaxially connected to the motor shaft of the lateral folding drive motor, and the other end of the force transmission rod is connected to the main shaft through a universal joint coupling. The gear shaft of the movable spur gear is coaxially fixed; the gear shaft of the active spur gear is rotatably connected to the longitudinal flip support plate through a bearing, and the active spur gear is meshed with the driven spur gear; the gear shaft of the driven spur gear is rotatably connected to the longitudinal flip support plate through a bearing; one end of the second connecting rod is fixedly connected to the gear shaft of the driven spur gear, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the nut tightening wrench; the second connecting rod, the third connecting rod, the nut tightening wrench and the longitudinal flip support plate constitute a four-bar mechanism. 5. A two-way foldable aviation equipment nut tightening device according to claim 4, characterized in that: the nut tightening wrench comprises a housing, a cover, an input end gear, an intermediate transmission gear set, an output end gear, a nut tightening sleeve, a nut tightening control component and a nut picking control component; the input end gear, the intermediate transmission gear set, the output end gear and the nut tightening sleeve are arranged in a straight line sequence inside the housing; the gear shaft of the input end gear is rotatably connected to the longitudinal flip support plate through a bearing, and the input end gear is meshed with the power output gear of the in-line gear transmission box; the third connecting rod is hinged on the housing; the cover is fixedly connected to the housing, and the internal space of the housing is sealed by the cover; the gear shaft of the input end gear is rotatably connected to the housing and the cover through bearings The gear shafts of all the intermediate transmission gears in the intermediate transmission gear set are rotatably connected to the housing and the cover through bearings, and the input-end gear is meshed with the intermediate transmission gear set for transmission; the gear shafts of the output-end gears are rotatably connected to the housing and the cover through bearings, and the output-end gear is meshed with the intermediate transmission gear set for transmission; the nut screwing sleeve is arranged in the housing through a sleeve limit plate, and the nut screwing sleeve only has rotational freedom under the limitation of the sleeve limit plate; the sleeve limit plate is fixedly connected to the housing through a limit plate block; a sleeve outlet hole is provided on the housing directly opposite to the nut screwing sleeve; the nut tightening control assembly is located outside the sleeve outlet hole and is arranged on the housing; the nut picking control assembly is located outside the sleeve outlet hole and is arranged on the nut tightening control assembly. 6. A two-way foldable aviation equipment nut tightening device according to claim 5, characterized in that: a transmission outer ring gear and a ratchet ring gear are respectively arranged axially on the outer surface of the nut tightening sleeve; the nut tightening sleeve where the transmission outer ring gear is located is located inside the shell, and the transmission outer ring gear is meshed with the output end gear for transmission; the nut tightening sleeve where the ratchet ring gear is located is located outside the shell; the inner surface of the nut tightening sleeve located outside the shell is set as a twelve-angle hole, and the twelve-angle hole is used in conjunction with the nut to be tightened; the nut tightening sleeve is coaxially arranged with the power output shaft of the tightening machine. 7. A two-way foldable aviation equipment nut tightening device according to claim 6, characterized in that: the nut tightening control assembly comprises a support frame, a left pawl and a right pawl; the support frame is fixedly connected to the shell; the left pawl and the right pawl are arranged in a mirror-symmetrical manner inside the support frame; the root of the left pawl is hinged to the support frame, and a ratchet is arranged on the top of the left pawl, and the left pawl cooperates with the ratchet gear ring on the nut screwing sleeve through the ratchet at its top; a left pawl reset spring is arranged between the left pawl and the support frame; the left pawl is connected to the three-channel soft cable pulling mechanism through a first soft cable; the root of the right pawl is hinged to the support frame, and a ratchet is arranged on the top of the right pawl, and the right pawl cooperates with the ratchet gear ring on the nut screwing sleeve through the ratchet at its top; a right pawl reset spring is arranged between the right pawl and the support frame; the right pawl is connected to the three-channel soft cable pulling mechanism through a second soft cable. 8. A two-way foldable aviation equipment nut tightening device according to claim 7, characterized in that: the nut picking control component includes a positioning frame and a nut pressure plate; the positioning frame is fixedly connected to the support frame; the nut pressure plate is arranged inside the positioning frame, and a pressure plate return spring is arranged between the nut pressure plate and the support frame; the nut pressure plate is used in conjunction with the nut to be tightened; the nut pressure plate is connected to the three-channel flexible cable pulling mechanism through a third flexible cable; a flexible cable limit plate for limiting the position of the first flexible cable, the second flexible cable and the third flexible cable is also arranged on the outside of the shell.