Wheel assembly industrial robot for mounting wheel of vehicle i.e. passenger car, has gripper drive adjusting distance of gripper arms together, so that gripper arms cut tire-bearing surface of wheel with specified angle

摘要

The robot (10) has an end-effecter base (32) provided with a base-fixed wheel gripper (34) and a base-fixed wheel bolt-power screw driver (36). Gripper fingers (56-59) detect a bearing surface (64) of a wheel (12), where the gripper fingers are held in a fixed distance to each other by gripper arms. A gripper drive (44) adjusts a distance of gripper arms together, so that gripper arms cut a tire-bearing surface of the wheel with an angle of maximum 20 degree, by the gripper drive, in two movement levels. The gripper finger includes swivelable rolls on a finger axis. An independent claim is also included for a method for an assembly of a vehicle wheel held by a holding device at a vehicle wheel suspension by a wheel assembly-industrial robot.