| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a tire gripping apparatus for guiding a grip position to the center of a tire. Ž<P>SOLUTION: A second base member 13 movable in a direction substantially vertical to a rotation center axis O1 of the tire is supported on a stationary first base member 12 centralized on a robot arm tip 11a. A plurality of arm members 14 movable in a rotation center axis direction of the tire are disposed in the second base member 13. The tire gripping apparatus includes a first drive means 15 for moving these arm members 14 to a position where they grip the tire while being pressed into contact with a tire outer peripheral surface, and to a position away from the tire outer peripheral surface; a second drive means 16 for moving these arm members to a position opposed to the tire outer peripheral surface in the rotation center axis direction of the tire; and a position adjustment means 20 for adjusting a center O2 position of the first base member onto the rotation center axis line O1 of the tire gripped by the arm members. After the arm members follow the position of the tire placed at a first position and grip the tire, the position adjustment means positions the center of the first base member on the rotation center axis line of the tire. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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