Wheel mounting robot for assembling vehicle wheel, comprises central opening on vehicle wheel hub on side of vehicle as manipulator arm, which has end effector base at distal end

摘要

The wheel mounting robot (10) comprises a central opening on a vehicle wheel hub on a side of a vehicle as a manipulator arm (26), which has an end effector base at a distal end. A wheel gripper (34) is provided on the end effector base. A camera is provided on the end effector base, such that the camera snaps the vehicle wheel, which is gripped by the wheel gripper, through the central opening. A control unit is provided for position and orientation regulation of the wheel gripper, depending on the position and orientation of the vehicle wheel hub, determined by camera. An independent claim is also included for a method for a displacement adjustment.