| 摘要 |
A device for mounting a pneumatic tire onto a vehicle wheel rim comprises a handling robot, including a robot hand ( 7 ), which is movable about a plurality of axes and comprises a rotationally drivable flange ( 8 ) and a gripper ( 2 ) attached thereto, the gripper including a base element ( 10 ) and at least two gripper arms ( 15 ) which are movable radially relative to the centre axis of the gripper ( 2 ). The gripper arms ( 15 ) are coupled to a synchronization device, which synchronizes the radial movement of the gripper arms ( 15 ) and includes a disc ( 23 ), mounted on the base element ( 10 ) of the gripper ( 2 ) so as to be rotatable about the centre axis of the gripper and rotationally drivable via a motor, and coupling members ( 25 ) fixed to the disc ( 23 ) and the gripper arms ( 15 ) via hinged joints ( 26, 27 ) in such a way that a rotation of the disc ( 23 ) produces a synchronous radial movement of the gripper arms ( 15 ).
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