Mounting a wheel - industrial robot, end effector and method for mounting a wheel by means of a wheel mounting - industrial robot

摘要

Mounting a wheel - an industrial robot (10) for mounting a vehicle - wheel (12) at the vehicle wheel suspension, withan end effector - base (32) with a stationary wheel - gripper (34) and a stationary wheel bolts - a screwdriver (36),at least four gripper fingers (56, 57, 58, 59) for gripping a running surface (64) of the vehicle - wheel (12), wherein in each case at least two gripper fingers (56, 57, 58, 59) by means of a gripper arm (52) in a fixed distance (d) are held with respect to one another,a looper drive (44) of the distance of the two gripping arms (52) is established with respect to one another, so that at least four gripper fingers (56, 57, 58, 59) by the looper drive (44) in at least two planes of movement (62, 63) the running surface (64) of the ideal vehicle - wheel (12) with an angle α of maximally 20,0°.