Industrial robot for assembly of vehicle wheel, has gripper arms moving symmetrical to each other by arm drive, gripper jaw fixed movably to gripper arms, and sensor assigned to end effector base

摘要

The robot has an end effector base (20) with a base-fixed wheel gripper (22) and a base-fixed wheel bolt (24). The wheel gripper has a gripper jaw fixed movably to gripper arms. The jaw determines a running surface (34) of a wheel tire of a wheel (12). The gripper arms are moved symmetrical to each other by an arm drive. A sensor is assigned to the end effector base for determination of a position of a wheel rim of the wheel. A bi-directional fluid cylinder is provided for locking the gripper jaw opposite to the gripper arms. An independent claim is also included for a method for operating a wheel assembly industrial robot.