A tool for opening and/or closing rotatable joints, includes a slewing ring, a first grip member, and a second grip member. The first grip member is an annular plate. The second grip member includes two identical gripper arrangements, which include a gripper, an actuator, and bearing members of the actuator. The slewing ring includes an annular upper plate and an annular guide plate, between which plates grippers of the second grip member are arranged. The guide plate is arranged to slide in slots of slide pieces, which are in connection with the first grip member. The bearing members of the actuators are in connection with the first grip member, which actuators are arranged to move the grippers of the second grip member. The grippers are fastened to the slewing ring in a pivoted manner and arranged to grip the shaft of the joint.

A substrate assembling device (1) includes a first end effector 10 attached to a first arm (3), a second end effector 20 attached to a second arm (3), and a controller 4. The second end effector 20 includes a pair of grippers 22 configured to grip a second substrate 102, and a placing part 23 where threaded elements are placed. The controller 4 is adapted to control operations of the first arm and the second arm to position the second substrate 102 on a first substrate 101 while gripping the second substrate 102 by using the pair of grippers 22 of the second end effector 20, and hold the threaded element placed on the placing part 23 of the second end effector 20 and fasten the held threaded element, by using the first end effector 10, to join the first substrate 101 and the second substrate 102 together.

A substrate assembling device (1) includes a first end effector 10 attached to a first arm (3), a second end effector 20 attached to a second arm (3), and a controller 4. The second end effector 20 includes a pair of grippers 22 configured to grip a second substrate 102, and a placing part 23 where threaded elements are placed. The controller 4 is adapted to control operations of the first arm and the second arm to position the second substrate 102 on a first substrate 101 while gripping the second substrate 102 by using the pair of grippers 22 of the second end effector 20, and hold the threaded element placed on the placing part 23 of the second end effector 20 and fasten the held threaded element, by using the first end effector 10, to join the first substrate 101 and the second substrate 102 together.

A nut runner, an attachment unit, and a sliding member are provided in a second arm that is a leading arm of the robot and has a leading end shaft movable along the direction of an elevation axis. The nut runner includes a screw fastening driver, a drive shaft rotationally driven by the screw fastening driver, and an extension bar that is so connected to rotate together with the drive shaft in the circumferential direction and to move in the axial direction. The attachment unit fixedly connects the screw fastening driver to the second arm so that a screw fastening axis parallel to the elevation axis serves as a rotation axis of the screw fastening driver. The sliding member is connected to the leading end shaft and supports the extension bar so as to move together in the axial direction and are rotatable relatively in the circumferential direction.

A nut runner, an attachment unit, and a sliding member are provided in a second arm that is a leading arm of the robot and has a leading end shaft movable along the direction of an elevation axis. The nut runner includes a screw fastening driver, a drive shaft rotationally driven by the screw fastening driver, and an extension bar that is so connected to rotate together with the drive shaft in the circumferential direction and to move in the axial direction. The attachment unit fixedly connects the screw fastening driver to the second arm so that a screw fastening axis parallel to the elevation axis serves as a rotation axis of the screw fastening driver. The sliding member is connected to the leading end shaft and supports the extension bar so as to move together in the axial direction and are rotatable relatively in the circumferential direction.

The invention relates to an automatic device or tool (1) for removing and installing means for fastening liners in a mill, the configuration thereof allowing the performance of a task involved in the removal and/or insertion of the means for fastening the liner, such as cleaning, lubrication, installation, loosening, removal, tightening, and final torque application, by means of automatic operation and remote actuation. The device or tool comprises at least one base structure or frame (2), a torque actuator and a transmission system (3) formed by a die (4) coupled by means of a movable coupling (5) to a drive shaft (6) of a torque actuator (7), such that said configuration allows the die (4) to move axially, thereby enabling a nut to be inserted into the die (4) automatically, and at least one washing and lubrication system (9) formed in the front area (8) of the arrangement of the die (4), which allows the threads of the fastening means to be washed and lubricated, using the same device or tool (1) of the invention.

The invention relates to an automatic device or tool (1) for removing and installing means for fastening liners in a mill, the configuration thereof allowing the performance of a task involved in the removal and/or insertion of the means for fastening the liner, such as cleaning, lubrication, installation, loosening, removal, tightening, and final torque application, by means of automatic operation and remote actuation. The device or tool comprises at least one base structure or frame (2), a torque actuator and a transmission system (3) formed by a die (4) coupled by means of a movable coupling (5) to a drive shaft (6) of a torque actuator (7), such that said configuration allows the die (4) to move axially, thereby enabling a nut to be inserted into the die (4) automatically, and at least one washing and lubrication system (9) formed in the front area (8) of the arrangement of the die (4), which allows the threads of the fastening means to be washed and lubricated, using the same device or tool (1) of the invention.

A self-punching functional element serves for the fastening to a workpiece and comprises a head part that has an abutment surface for introducing a punching force directed in a punching direction into the functional element and a rivet section that extends away from the head part in the punching direction and that comprises a free end that is provided with a first punching edge for punching a slug out of the workpiece. The functional element further comprises a functional section that has a punching pilot that is radially surrounded by the rivet section, that extends away from the head part in the punching direction, and that has a second punching edge for punching a hole into the slug. The second punching edge is set back with respect to the first punching edge in the punching direction.

A device for lifting and tightening screws includes a transporting unit to move the device to a screw suction position or a screw locking position, a suction nozzle unit, a vacuum generator, and an electronic screwdriver unit. When the device is moved to a position to attract and apply suction to a screw, the suction nozzle unit captures a screw. When the device is moved to the screw locking position, the electronic screwdriver unit tightens the screw. The device prevents the suction nozzle from contacting the workpiece, guides a suction position of the screw, and can function in relation to screw holes surrounded by steps and barriers.

A device for lifting and tightening screws includes a transporting unit to move the device to a screw suction position or a screw locking position, a suction nozzle unit, a vacuum generator, and an electronic screwdriver unit. When the device is moved to a position to attract and apply suction to a screw, the suction nozzle unit captures a screw. When the device is moved to the screw locking position, the electronic screwdriver unit tightens the screw. The device prevents the suction nozzle from contacting the workpiece, guides a suction position of the screw, and can function in relation to screw holes surrounded by steps and barriers.