| 摘要 |
PURPOSE: A robot gripper for installing tires and a controlling method thereof are provided to reduce cost of an installing apparatus through tightening nuts to a hub having four shafts or five shafts by using one tool. CONSTITUTION: A robot gripper(5) for automatically installing a tire is formed by a tire eccentricity compensating unit installing a tire(1) while automatically compensating eccentricity of the tire; a tire wheel center setting unit fixing center of the tire, and a nut runner four or five shafts pitch converting unit converting pitches for assembling the nuts to the shafts on a hub(7). Herein, a chuck is rotated centering upon a center in installing a tire, and a linear contact is performed on the tire. Therefore, eccentricity of the tire is automatically corrected. Moreover, the hub bolts are converted for four or five shafts for installing the tire.
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