An automated torque device for installing and extracting fastening elements for mill liners

Abstract

The invention relates to a torque tool or device for installing and extracting fastening elements for mill liners, such as nuts and washers, the tool being automated with high torque capacity and controlled speed for installing and / or extracting fastening elements for mill liners. The tool comprises at least a power train means (2), at least an axial compensation means (3), at least a radial compensation means (4), at least a gripping element (5), at least a tool changer (6), at least a chassis (7), and at least a communication and control means (8), said communication and control means allowing the necessary information to be generated and fed back into the system for the operation of the tool by means of different sensors arranged in the different components of the tool.

Description

[0001] AN AUTOMATED TORQUE DEVICE FOR THE INSTALLATION AND REMOVAL OF FASTENERS FOR MILL LINERS.

[0002] DESCRIPTIVE MEMORY

[0003] FIELD OF INVENTION

[0004] The present invention relates to devices, tools and / or procedures that are used for the installation, torqueing and removal of fixing means of wear elements, such as liners or shells, that are arranged on the internal surface of the housing of a mill for grinding mineral in the mining industry.

[0005] Preferably, the invention relates to an electric torque device or tool for the installation and removal of the elements or means for fastening and / or fixing a mill lining or shell, such as, for example, nuts, bolts and / or washers, the configuration of which allows the tension required by the bolted joint to be reached during installation as well as the torque necessary for removal, and allows removal and installation through an automated process, without the maintenance personnel having to intervene in the handling of said device or tool, so that the process of replacing a lining is optimized, ensuring correct installation and removal of said fastening elements in each lining that will be changed, achieving a greater degree of certainty and efficiency, therefore optimizing the mill downtime for maintenance.Unscheduled repair stops due to a poorly carried out process and avoiding exposing maintenance personnel to the risks associated with this type of procedure.

[0006] BACKGROUND OF THE INVENTION

[0007] Removing the fasteners from a mill's liners for replacement is a highly repetitive process, as a large number of fasteners must be used to correctly and securely fix the large number and variety of liners that a mill comprises inside its casing.

[0008] REPLACEMENT SHEETS (RULE 26) Due to the impact of the ore and grinding media on the liners, they are subject to constant wear, which is why they must be changed periodically. Replacing liners in this technique requires the use of tools or devices that are normally operated by personnel directly in the replacement area to assist in the positioning, guiding, securing and / or releasing of the liners. This is a high-risk process for the personnel involved in the replacement operation, as well as requiring a longer time associated with the maintenance operation.

[0009] Liners are installed on the inner surface of the mill, which have different configurations, sizes and shapes according to their location, being fixed and / or held by fixing means. One of the forms used for fixing is composed of a bolt that is inserted into a hole in the lining and the mill shell, such that a threaded end of said bolt protrudes outward from the mill shell on the outside of it to allow the arrangement of a sealing element, such as a cup washer or vulcanized thrust washer, and a tightening element, such as a nut, which is tightened with the necessary torque, which is normally high, to tighten and therefore securely fix the lining to the inner surface of the mill shell, and providing the necessary seal to prevent pulp leakage from the inside of the mill through said fixing means.

[0010] Another way of fixing is to use linings with thread inside, in this case only the lining is positioned and mounted from the inside, while from the outside a bolt is introduced into the hole of the mill that is screwed into the lining thread achieving the fixation

[0011] The lining replacement procedure is normally carried out with tools that are operated by maintenance personnel to carry out each of the tasks that involve said replacement, such as using tools that allow the nuts and / or bolts to be loosened and removed, tools or elements that allow the washers to be removed, tools to push the bolts into the mill, tools to remove the lining from its location inside the mill, and where the installation of the lining requires carrying out each of the indicated steps but in reverse order.

[0012] One of the most time consuming stages in the lining replacement process is related to the steps of loosening, removing, inserting and tightening the nuts from the spun rod exposed on the outside of the mill to the lining fastening and fixing bolt, since a large amount of personnel is required to loosen a large number of fixing means that includes the large number of liners used in a mill, as well as the tools indicated to achieve the loosening of the nut in each of the different types of mills that exist, and the number of different tasks that must be carried out in the extraction and insertion of a fixing means of a lining.

[0013] When the fastener is exposed to adverse environments, it is normally cleaned and lubricated manually in its spun area using a brush or pieces of fabric to facilitate its extraction or insertion. Subsequently, in the process of installing the fastener, the nut or bolt is pre-installed manually in the arrangement to be fastened, to proceed with pre-tightening with a tool that is normally an impact tool, such as a pneumatic tool, and then proceed to tighten to final torque with a torque tool, which can be hydraulic or electric. To carry out the process of extracting the fastener, after cleaning and lubricating, the other steps are carried out in reverse order to loosen a nut or bolt.

[0014] Since each step in the process of removing and installing a liner's fastening means for replacement is carried out by a large number of personnel, with a large number of different tools, and under extreme working conditions, the scheduled downtime is usually extended, making the process less efficient. However, in order to comply with this program, the large number of maintenance personnel carrying out this procedure often do not optimally perform each of the various steps or tasks to remove or install a liner's fastening means. This normally leads to system failures, such as leaks due to loss of seal and detachment of the liner, resulting in subsequent unscheduled stops for repairs. The adverse conditions under which this procedure is carried out by personnel increase the risk of accidents.

[0015] In the art, a series of devices, tools and procedures have been developed and implemented that are aimed at solving the problems associated with the removal and insertion of the fixing means in the replacement of a mill lining, such as that described in national application 2642-2005 (Ml ROBOTIC SOLUTIONS SA) dated publication 06 / 01 / 2007, and corresponding to National Registry 49044, which describes a robotic method for the procedure of removing bolts from SAG mills, which in turn comprises providing a robotic arm with at least 5 degrees of freedom, taking a nut cutting tool from a tool rack, cutting or loosening the nut and taking a bolt removing tool to remove a mill fastening bolt.This document does not specify the shape and structural configuration of the tools, it only describes that the robotic arm takes a tool to cut or loosen the nut and a bolt removal tool, indicating only that it corresponds to hydraulic equipment, additionally it describes that the tool rack also includes a torque wrench, and tools to tighten and loosen bolts.

[0016] On the other hand, national application 201702310 (IVAN JORGE PEREZ GUTIERREZ) dated 09 / 12 / 2017 describes a system for removing and tightening bolts for mill linings comprising a rail fixed to an operating platform, a mobile and tilting support that can take different positions along the rail, which allows the wrench to be positioned in front of several rows of bolts depending on the position taken by the mobile and tilting support, where the wrench that applies the torque to the bolt is of the motor type with a planetary reducer, the drive motor being electric, hydraulic, pneumatic, with a toothed ratchet or friction ratchet.While it is true that a tightening system is described that provides a means of facilitating the mobility of the torque tool to the various points where the process of removing and tightening the bolts of a mill liner must be carried out, the system still considers the manual operation of the wrench to apply pressure until the relief valve of the hydraulic unit cuts off the flow of power to the motor.

[0017] An apparatus and method for extracting quick-release nuts is disclosed in national application 201700082 (DESARROLLO Y OPTIMIZACIÓN DE SISTEMAS PRODUCTIVOS SA) dated 01 / 12 / 2017, the configuration of which allows for a quick-release nut to be quickly and efficiently disassembled and disassembled, the apparatus comprising a hydraulic cylinder having a nut that rests on the end of the bolt, as well as two jaws that surround the outer body of the nut from the base, which when the jaws contract and the hydraulic cylinder is actuated, extracts said outer body, causing the pins and split bushing of the inner hollow body to come out of their position, leaving the nut unlocked and freeing the end of the bolt, which maintains the connection of the mill drum with the inner lining.While it is true that this proposed solution facilitates the extraction of a means of fixing a lining in a mill, however, it requires direct manipulation by maintenance personnel, having to position the hardened sleeve of the device in a fixed manner at the end of the bolt, to operate a crank by turning it that allows the jaws to clamp the nut and close the jaws, to subsequently have to be actuated, by the operator, the hydraulic cylinder that by moving the rod the outer body of the nut is extracted from it.

[0018] The fact that the solutions described in the prior art consider the suspension of tools, the drive through the movement of rails, and / or telescopic arms as well as requiring the manual operation of more than one tool in more than one of the tasks involved in the extraction and installation of the fixing elements of the lining of a mill, lead to errors in the procedure, such as poor alignment of the tool, poor operation, among others, which by requiring a large amount of personnel to carry out the process, make it less efficient and more risky.

[0019] Therefore, there is a need in the art to provide a torque device or tool for the installation and removal of mill lining fasteners, the operation of which is automated, electrically operated, with a high torque capacity for extracting, removing, tightening and / or fixing the fastening elements of a mill liner or shell, such as nuts, bolts and / or washers, the configuration of which allows the tension required by the bolted joint to be reached during installation as well as the torque necessary for removal, and which allows compensation for movement deviations of the tool during the installation and / or removal of said fastening elements, and at the same time manages to carry out each of the tasks involved quickly, efficiently and accurately, where the operation of said device or tool is automated and remote, in such a way as to avoid the intervention of maintenance personnel,To avoid errors that commonly occur with systems, apparatus, devices, tools and procedures used in the state of the art.

[0020] SUMMARY OF THE INVENTION

[0021] The present invention aims to provide a torque device or tool for the installation and removal of fastening elements for mill liners, automated with high torque capacity and controlled speed for the installation and / or removal of the fastening elements of the liners in the mills, whether for fixings with a nut and washer outside the mill or fixings that are screwed from outside the mill, without requiring the intervention of maintenance personnel, and whose configuration allows compensating for deviations in the position of the tool during the installation or removal of said fastening elements, thus optimizing the process, making it more efficient, effective and safe.

[0022] The invention consists of an electric torque device or tool

[0023] (1) automated robotic drive for the installation and removal of fastening elements, such as washers, nuts and / or bolts, for mill liners, with a wide torque capacity and controlled speed, comprises at least one power train means (2), at least one axial compensation means (3), at least one radial compensation means (4), at least one claw element (5), at least one tool exchange means (6), at least one chassis (7), and at least one communication and control means (8) allowing the generation of the necessary information and feedback to the system for the operation of the tool by means of different sensors arranged in the different components of the tool.

[0024] With the configuration of the remotely actuated automated electric torque device or tool of wide torque capacity and controlled speed for the installation and / or removal of the fastening elements for mill liners, such as washers, nuts and / or bolts, it allows to grant the capacity to provide a movement in the X, Y and Z plane to compensate for deviations in the installation and / or removal of the fixing means of the liners in a mill, being able to hold washers and nuts in the case of nut fixings and bolts in the case of those directly screwed to the lining, and where it is capable of generating the necessary torque for the installation of the fixing means of a mill lining, measuring the torsion and the installation angle

[0025] The automated electric torque device or tool with high torque and controlled speed for the installation and / or extraction of the fixing means of the linings in the mills, such as washers, nuts and / or bolts, allows to carry out each of the tasks involved in the extraction and / or insertion of the fixing means in the linings with the same device, such as installation, release, extraction, tightening and final torque, through automatic operation and drive, thus providing an automated remote-actuated device or tool, which allows to ensure the quality, certainty and effectiveness of the process, therefore optimizing the mill downtime for maintenance, and avoiding exposing maintenance personnel to the risks associated with this type of procedure. DESCRIPTION OF THE DRAWINGS

[0026] In order to assist in a better understanding of the characteristics of the invention, according to a preferred example of its practical implementation, a set of drawings is attached as an integral part of the description, in which the invention is represented for illustrative and non-limiting purposes.

[0027] Figure 1 corresponds to a top side perspective view of an exploded view showing the basic elements that make up the torque device or tool for the extraction and installation of the fastening elements for mill liners of the present invention.

[0028] Figure 2 corresponds to a top side perspective view of an exploded view of a power train means of the torque device or tool for the extraction and installation of the fastening elements for mill liners of the present invention.

[0029] Figure 3 corresponds to a top side perspective view of an exploded view of an axial compensation means of the torque device or tool for the extraction and installation of the fastening elements for mill linings of the present invention.

[0030] Figure 4.- corresponds to a top side perspective view of an exploded view of a radial compensation means of the torque device or tool for the extraction and installation of the fastening elements for mill linings of the present invention.

[0031] Figure 5 shows a side perspective view of an exploded view of a claw element of the torque device or tool for removing and installing the fastening elements for mill liners of the present invention. Figure 6 shows a top side perspective view of an exploded view of a tool exchanger means of the torque device or tool for removing and installing the fastening elements for mill liners of the present invention.

[0032] Figure 7.- corresponds to a top side perspective view of an exploded view of a chassis of the torque device or tool for the extraction and installation of the fastening elements for mill linings of the present invention.

[0033] PREFERRED EMBODIMENT OF THE INVENTION

[0034] The invention consists of an automated, remotely actuated electric torque device or tool (1) with a wide torque capacity and controlled speed for the installation and / or removal of the fastening elements for mill liners, such as washers, nuts and / or bolts, where basically said electric torque device or tool (1), as seen in Figure 1, comprises at least one power train means (2), at least one axial compensation means (3), at least one radial compensation means (4), at least one claw element (5), at least one tool exchange means (6), at least one chassis (7), and at least one communication and control means (8) that allows the generation of the necessary information and feedback to the system for the operation of the tool by means of different sensors arranged in the different components of the tool.

[0035] The chassis (7) corresponds to the support structure of the different elements that comprise the electric torque tool or device (1), as can be seen from Figure No. 7, is configured by a series of elements joined together, such as opposite and spaced side plates (9), upper plate (10) and front plate (11) joined together through their edges by means of fastening elements (14) forming a support structure with an interior housing, and its purpose is to contain all the means and elements or subsystems that comprise the device, protect the tool and structurally contain the forces and moments generated by the work of the electric torque tool or device (1), where the upper plate (10) comprises heles support plates (12) on both sides, at least one side plate (9) comprises an anchor centering device (13) attached to it by means of fastening elements (14),on the front part of the front plate (11) a second compensator plate (15) is joined by means of the fastening elements (14) and where both the front plate (11) and said compensator plate (15) comprise a central opening (16), in addition the upper edge of the front plate (11) comprises linear rail adjustment plates (17) and the lower edge comprises lateral linear guide retainers (18).

[0036] As can be seen in Figure 1, the front plate (11) of the chassis (7) has a configuration and shape that allows the fixing and / or joining of the assembly of at least one claw element (5) and at least one radial compensation element (4) and the rear end of the open chassis (7) has a shape and configuration that allows the fixing, arrangement and / or joining of at least one means of the power train (2).

[0037] The power train means (2), illustrated through figure No. 2, allows the torque to be transmitted from a driving system to the bolted joint, generating the necessary tension, and is basically formed by a servo motor (19) that is connected to a planetary reducer (20) and this in turn to the die (21), allowing a torque and speed to be exerted controlled according to the process requirements, the servo motor (19) comprises a power unit routing element (22) connected at the rear end by means of fastening and sealing elements (24), and on its front side a servo mount (25) through fastening and sealing elements (24),where said servo assembly comprises a housing that extends to its front part where an assembly formed by a spindle (23) is housed on which a ball bearing assembly (26) and a separator ring (27) are mounted on both opposite sides. The planetary reducer (20) comprises a central joining element (28) in its front part to which the die (21) is joined by means of fastening and sealing elements (24), and where said planetary reducer also has a body perimeter ring (29) with joining holes around its perimeter. The at least one radial compensation element (4), as illustrated in figure 4, generates a movement tolerance in the X and Y direction of the tool, it is produced by means of pneumatic cylinders and is necessary so that the tool loses rigidity and helps the fitting of the hexagon of the tool and the nut to extract, or to introduce the bolt the thread of the lining,It comprises a reducer housing (30) and a first compensating plate (31) which have central openings and are connected to each other by means of a vertically arranged pneumatic movement assembly formed by a cylinder support (32) in which a pneumatic cylinder (33) is arranged, where both on the upper edge and on the lower edge of the reducer housing (30) opposite each other said cylinder support assemblies (32) are arranged with the pneumatic cylinder (33) and on each right and left side of said housing (30) facing the first compensating plate (31), where between each of said opposite sets of cylinder support (32) and pneumatic cylinder (33) a linear rail (34) is arranged which is connected to linear guides with ball recirculation (35) that are fixed to the opposite face of the first compensating plate (31),whereby the movement tolerance in the direction of the Y axis of the tool is generated. A horizontally arranged pneumatic movement assembly formed by a cylinder support (32) in which a pneumatic cylinder (33) is arranged is arranged on the rear face of the first compensating plate, in such a way that at least two support and pneumatic cylinder assemblies are fixed facing each other and spaced from each other between which a linear rail (34) is arranged, which is connected to a linear guide with ball recirculation (35) that is fixed to the second compensating plate (15) that is joined to the front part of the front plate (11) of the chassis (7), whereby the movement tolerance in the direction of the X axis of the tool is generated. Said pneumatic movement assemblies are operated by a valve arrangement (36) with manifold (37) and fitting (38) arranged in the radial compensation element (4).

[0038] The at least one radial compensation element (4), as assembled and described above and arranged in the tool or device (1) on the open front plate (11) of the chassis (7) allows to grant a movement in the X and Y plane to compensate for deviations in the installation and / or extraction of the holding elements of the liners in a mill.

[0039] The axial compensation means (3), which is illustrated by figure No. 3, generates a tolerance of movement in axial direction in Z of the tool, which allows the fit between the hexagon of the tool and the nut, also allows the displacement of the nut in the uninstallation of the bolt, in the extraction process, the movement in Z is generated by means of double-acting pneumatic cylinders (39), and where the tool is displaced in two linear heles (40) and four linear guide carriages (41). The movement support assembly is configured by a lateral retainer (42) that has at its ends a linear guide compensation stop (43) to which the linear rail (40) is attached, this assembly being fixed or attached on both sides to the heles support plate (12) that comprises the upper plate (10) of the chassis (7).A linear guide carriage (41) is attached to the linear rail and is fixed to the lower face of a guide support plate (44) on both sides of said plate (44), where said plate has a central recess where at least one double-acting pneumatic cylinder (39) is arranged and connected, thereby generating the Z movement tolerance of the tool. An exchanger clamping plate (45) is attached to the upper face of the guide support plate (44) and is connected to the tool exchanger means (6). The cylinders (39) are actuated by means of a valve that has an air regulator (46) with a fitting (47).

[0040] The claw element (5), which is illustrated by figure No. 5, fulfills the function of holding the collar or washer of the installation and extraction, or allows to take the bolt in the case of the coatings with thread, and allows the dissipation of the torque reaction produced by the tool, so that it is not absorbed in its entirety by the robot. The claw element (5) is formed by a central ring (48) that has a central opening where the claw fingers (49) are fixed in a protruding manner towards the front, which are surrounded by an opening and closing drive assembly formed by a nut or bolt head retention system (50), a claw piston (51) and a claw cylinder (52), in such a way that the claw piston (50), which is pneumatically actuated, is responsible for generating the closing and opening of the claw fingers (49) that holds the washer or bolt.The claw element (5) is connected to the central opening of the reducer housing (30) of the radial compensation element (4).

[0041] The tool exchange means (6), which can be seen in the illustration in figure 6, allows for a quick change between one tool and another, and also transfers the energies necessary for its functionality. It is formed by a base (53) that has a body formed by a central opening and a body perimeter that has a series of holes for fixing fastening elements to be fixed to the exchanger clamping plate (45) of the axial compensation means (3), where joined by the perimeter sides of the base body are a water module (54), a spacer (55), an electrical module (56), a current module (57), a communications module (58) and adapters to expand and install modules (59).

[0042] The means of communication and control (8) allows the generation of the necessary information and feedback to the system for the operation of the tool by means of different sensors arranged in the different components of the tool, within which there are at least one limit switch sensor and actuator, at least one open and closed claw sensor, at least one Z movement laser sensor, and at least one die rotation sensor.

[0043] The procedure for installing the fastening elements of a lining, nut and / or bolt, is carried out by moving the automatic electric torque device or tool (1) for extraction and installation by means of an automatic manipulator, such as a robotic manipulator, towards a feeding system for the fastening elements, nut with washer or bolt, which are held with the claws, once this task is carried out the manipulator takes the device or tool (1) to its working position, facing and aligning the fastening elements to the mill bolt or lining thread, photos are taken with artificial vision for alignment, and the fastening elements are installed in the mill which are tightened to a programmed torque to subsequently release the components of the fastening elements by opening the claws, and subsequently return to the feeding position to repeat the process.

[0044] The procedure for removing or extracting the fastening elements of a lining, the tool is directed in front of the bolt and / or nut of the mill, a photo is taken with artificial vision for alignment of the tool, the tool is fitted into the nut or bolt, the handle is tightened with the claws, and the tool is unscrewed in order to completely extract the fastening elements, holding them in the tool to be taken to a safe place to be thrown away.

[0045] With the configuration of the automatic electric torque device or tool (1) with a wide torque capacity and controlled speed for the extraction and installation of fastening elements for mill lining by means of an automatic manipulator, it is possible to move the tool to a position where a fixing means of a mill lining must be extracted and / or introduced by means of, for example, a robotic arm in order to remotely carry out the procedure, granting the capacity to provide movement in the X, Y and Z plane to compensate for deviations in the installation and / or extraction of the fixing means of the linings in a mill, being capable of holding cup washers through compression by the interference of its claws, and where it is capable of generating the necessary torque for the installation of the fixing means of a mill lining, measuring the torsion and the installation angle,thus providing an automated remote-actuated device or tool, which ensures the quality, certainty and effectiveness of the process, thus optimizing the mill's downtime for maintenance, and avoiding exposing maintenance personnel to the risks associated with this type of procedure.

[0046] Although the configuration of the automatic electric torque device or tool (1) for the extraction and installation of the fixing means of the linings in the mill described here constitutes a preferred inclusion of this invention, it should be understood that the invention is not limited to this precise form of the system for the replacement of lining, since changes can be made to it without departing from the scope of the invention, which are defined in the appended claims.

Claims

CLAIMS A remotely operated, automated electric torque device or tool (1) with high torque capacity and controlled speed for the installation and / or removal of fastening elements for mill liners, such as washers, nuts and / or bolts, CHARACTERIZED in that it comprises at least one power train means (2), at least one axial compensation means (3) and at least one radial compensation means (4) that provide the ability to provide movement in the X, Y, Z plane to compensate for deviations in the installation and / or removal of the fastening means of the liners, at least one gripper element (5), at least one tool exchange means (6), at least one chassis (7),and at least one means of communication and control (8) that allows generating the necessary information and providing feedback to the system for the operation of the tool through various sensors arranged in the different components of the tool. An automated electric torque device or tool (1) according to claim 1, CHARACTERIZED in that the at least one radial compensation element (4) comprises at least one pneumatic cylinder for generating a movement tolerance in the X and Y directions of the tool so that it loses rigidity and assists in the engagement of a hexagon of the tool and the nut to be extracted, or to insert the bolt into the thread of the coating. An automated electric torque device or tool (1) according to claims 1 and / or 2, CHARACTERIZED in that the at least one axial compensation means (3) comprises at least one pneumatic cylinder for generating a movement tolerance in the axial Z direction of the tool,This allows the tool's hexagon to fit into the nut, and also allows the nut to move during bolt removal and extraction. An automated electric torque device or tool (1), according to any of the preceding claims, comprises at least one linear rail and at least one linear guide carriage on which the tool moves, CHARACTERIZED in that at least one radial compensation element (4) is arranged, attached and / or fixed to an open front plate (11) on the chassis (7) and allows movement in the X and Y planes to compensate for deviations in the installation and / or removal of the liner clamping elements in a mill.CHARACTERIZED in that the at least one radial compensation means (4) further comprises a reducer housing (30) and a first compensating plate (31), both of which have central openings and are joined together by a vertically arranged pneumatic movement assembly consisting of a cylinder support (32) in which a pneumatic cylinder (33) is disposed, wherein said cylinder support assemblies (32) with the pneumatic cylinder (33) are disposed both on the upper and lower edges of the reducer housing (30) opposite each other and on each right and left side of said housing (30) facing the first compensating plate (31), wherein between each of said opposing cylinder support assemblies (32) and pneumatic cylinder (33) a linear rail (34) is disposed which is joined to linear guides with recirculating balls (35) which are fixed to the facing face of the first compensating plate (31),thereby achieving the movement tolerance in the Y-axis direction of the tool. An automated electric torque device or tool (1), according to any of the preceding claims, CHARACTERIZED in that the at least one radial compensation means (4) further comprises a pneumatic movement assembly arranged, horizontally formed by a cylinder support (32) in which a pneumatic cylinder (33) is disposed, it is arranged on the rear face of the first compensating plate, such that at least two assemblies of support and pneumatic cylinder are fixed facing each other and spaced apart, between which a linear rail (34) is arranged, which is joined to a linear guide with recirculating ball bearings (35) which is fixed to the second compensating plate (15) which is attached to the front part of the front plate (11) of the chassis (7), thereby generating the movement tolerance in the direction of the X axis of the tool. Automated electric torque device or tool (1), according to any of the preceding claims, CHARACTERIZED in that the at least one radial compensation means (4) further comprises a valve arrangement (36) with manifold (37) and fitting (38) for operating the pneumatic movement assembly.An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the at least one axial compensation means (3) further comprises a motion support assembly configured by a lateral retainer (42) having at its ends a linear guide compensation stop (43) to which a linear rail (40) is attached, this assembly being fixed or attached on both sides to the support plate (12) comprising the upper plate (10) of the chassis (7) and where a linear guide carriage (41) is attached to the linear rail, which is fixed to the lower face of a guide support plate (44), on both sides of said plate (44), said plate having a central recess where at least one double-acting pneumatic cylinder (39) is arranged and attached, thereby generating the Z motion tolerance of the tool.Automated electric torque device or tool (1) according to any of the preceding claims. CHARACTERIZED in that, in addition, on the upper face of the plate of A guide support (44) is attached to an exchanger clamping plate (45) which is connected to the tool exchanger medium (6). The cylinders (39) are actuated by a valve having an air regulator (46) with a fitting (47). An automated electric torque device or tool (1), according to any of the preceding claims, CHARACTERIZED in that the chassis (7) is further configured by a series of interconnected elements, such as opposing and spaced side plates (9), a top plate (10), and a front plate (11) joined together at their edges by fastening elements (14), forming a support structure with an internal housing, and its purpose is to contain all the means and elements or subsystems comprising the device, protect the tool, and structurally contain the forces and moments generated by the operation of the electric torque tool or device (1).An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the top plate (10) further comprises support plates (12) on both sides, at least one side plate (9) comprises an anchor centering device (13) attached thereto by means of fastening elements (14), a second compensator plate (15) is attached to the front of the front plate (11) by means of the fastening elements (14), and wherein both the front plate (11) and said compensator plate (15) comprise a central opening (16), furthermore the upper edge of the front plate (11) comprises linear rail adjustment plates, (17) and the lower edge comprises linear guide side retainers (18). An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the front plate (11) of the chassis (7) has a configuration and shape that allows the fixing and / or joining of the assembly of at least one claw element (5) and at least one element radial compensation (4) and the open rear end of the chassis (7) has a shape and configuration that allows the fixing, arrangement and / or joining of at least one power train means (2). Automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the claw element (5) is formed by a central ring (48) having a central opening where the claw fingers (49) are fixed projecting forward, which are surrounded by an opening and closing drive assembly formed by a nut or bolt head retention system (50), a claw piston (51) and a claw cylinder (52), such that the pneumatically actuated claw piston (50) is responsible for generating the opening and closing of the claw fingers (49) that hold the washer or bolt. Automated electric torque device or tool (1)According to any of the preceding claims, CHARACTERIZED in that the gripper element (5) is further attached to the central opening of the housing of the reducer (30) of the radial compensation element (4) and serves to hold the washer or shim for installation and removal, or allows gripping the bolt in the case of threaded coatings, and allows dissipation of the torque reaction produced by the tool, so that it is not entirely absorbed by the robot. Automated electric torque device or tool (1), according to any of the preceding claims, CHARACTERIZED in that the power train means (2) is formed by a servo motor (19) that is attached to a planetary reducer (20) and this in turn to the die (21), allowing controlled torque and speed to be applied according to the process requirements.The servo motor (19) comprises a power unit routing element (22) attached at the rear end by means of clamping and sealing elements (24), and at its front a servo upright (25) to, through clamping and sealing elements (24), where said servo assembly comprises a housing extending to its front portion in which is housed an assembly formed by a spindle (23) on which are mounted on both opposite sides a ball bearing assembly (26) and separator ring (27). Automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the planetary reducer (20) further comprises a central joining element (28) on its front portion to which the die (21) is joined by means of clamping and sealing elements (24), and where said planetary reducer further has a perimeter body ring (29) with joining holes around its entire perimeter.An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the power train means (2) further transmits torque from a drive system to the bolted joint, generating the necessary tension.An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the tool exchanger means (6) is formed by a base (53) having a body formed by a central opening and a body perimeter having a series of holes for fixing fastening elements to be fixed to the exchanger mounting plate (45) of the axial compensation means (3), where, attached to the perimeter sides of the base body, are a water module (54), a spacer (55), an electrical module (56), a current module (57), a communications module (58), and adapters for expanding and installing modules (59). An automated electric torque device or tool (1) according to any of the preceding claims, CHARACTERIZED in that the communication and control means is also included. (8) comprises at least one limit switch sensor and actuator, at least one open and closed claw sensor, at least one Z-axis laser motion sensor, and at least one die rotation sensor.

Images