# US 2017/0144480 A1 · Robotic wheel gripper with a tmp sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0144480 A1 - Document ID: US20170144480A1 - Status: Published application - Kind: A1 - Application number: 15/323,516 - Filed: 2015-06-30 - Published: 2017-05-25 - Earliest claimed: 2014-07-01 - Assignees: Arkk Engineering - Applicants: Arkk Engineering - Inventors: Kevin R. KERWIN - Web page: https://patentgrep.com/patent/US20170144480A1 ## CPC - B60B 30/06: engaging the wheel body, e.g. the rim - B25J 9/0093: {co-operating with conveyor means} - B25J 15/0253: {comprising parallel grippers} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 19/021: {Optical sensing devices} - B60C 23/04: mounted on the wheel or tyre - B60C 25/0521: {Handling of rim or tyre, e.g. lifting and positioning devices} - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES ## Abstract A robotic wheel gripper unit that is configured for gripping and transporting a wheel to a predetermined position during an assembly operation with a tire is disclosed. The robotic wheel gripper unit comprises a selectively moveable arm that includes a gripper tool connected thereto. The gripper tool further includes a plurality of gripper fingers and at least one sensor. The gripper fingers are configured for selectively engaging a portion of a wheel. The sensor is configured to detect a predetermined element on the wheel, such as a TPMS valve stem, to assist in placement of the wheel during an assembly operation. ## Claims ### Claim 1 A robotic wheel gripper unit configured for gripping and transporting a wheel to a predetermined position; comprising: a selectively moveable arm; and a gripper tool that is connected to a first end of the moveable arm; wherein the gripper tool further comprises a plurality of gripper fingers that are configured for selectively engaging a portion of a wheel; and wherein the gripper tool further comprises at least one sensor that is configured to detect a location of a predetermined element on the wheel. ### Claim 2 (depends on 1) The robotic wheel gripper unit of claim 1, wherein the gripper fingers are carried on platforms that are selectively moveable from a releasing position to a gripping position, wherein in the releasing position, the gripper fingers are moved laterally away from the wheel. ### Claim 3 (depends on 2) The robotic wheel gripper unit of claim 2, wherein the gripper fingers further comprise gripper grooves that are configured to engage with the portion of the wheel when the gripper fingers are in the gripping position. ### Claim 4 (depends on 2) The robotic wheel gripper unit of claim 2, where the gripper tool includes two pairs of gripper fingers, with each pair being carried on a common platform. ### Claim 5 (depends on 2) The robotic wheel gripper unit of claim 2, wherein the sensor is mounted to one of the platforms. ### Claim 6 (depends on 5) The robotic wheel gripper unit of claim 5, wherein the sensor is mounted to a sensor plate that extends from one of the platforms. ### Claim 7 (depends on 1) The robotic wheel gripper unit of claim 1, wherein the sensor is an optical sensor. ### Claim 8 (depends on 1) The robotic wheel gripper unit of claim 1, wherein the sensor is configured to locate a tire pressure monitor system valve stem on the wheel. ### Claim 9 (depends on 8) The robotic wheel gripper unit of claim 8, wherein the sensor is operatively connected to a controller that records the position of the tire pressure monitor system valve stem with respect to a fixed position such that the gripper tool may position the wheel on an assembly conveyor in a predetermined position to locate the tire pressure monitor system valve stem at a predetermined orientation during an assembly operation with a tire. ### Claim 10 (depends on 1) The robotic wheel gripper unit of claim 1, wherein the moveable arm is operatively connected at a second end thereof to a body portion, wherein the body portion is rotatably-connected to a base portion such that the base portion may be pivoted relative to the base portion. ### Claim 11 A method of locating a tire pressure monitor system valve stem during a wheel assembly operation, comprising: positioning a robotic wheel gripper unit above a wheel such that a gripper tool, which comprises a plurality of gripper fingers and at least one sensor configured to detect a location of a tire pressure monitor system valve stem on a wheel, is positioned above the wheel; lowering the gripper tool into a scanning position so as to dispose the gripper fingers about an outer periphery of the wheel and to position the sensor between a top and a bottom surface of the wheel; rotating the gripper tool about the wheel until the sensor detects the location of the tire pressure monitor system valve stem; recording the location of the tire pressure monitor system valve stem relative to a fixed reference point; moving the gripper tool into a gripping configuration, wherein the gripper fingers engage a portion of the wheel; rotating the wheel to position the tire pressure monitor system valve stem at a predetermined location; and releasing the wheel by moving the gripping tool into a releasing configuration, whereby the gripping fingers are no longer in contact with the wheel. ### Claim 12 (depends on 11) The method of claim 11, further comprising raising the gripper tool from the scanning position before moving the gripper fingers into engagement with the wheel. ### Claim 13 (depends on 11) The method of claim 11, wherein the gripper fingers engage a top peripheral edge of the wheel. ### Claim 14 (depends on 11) The method of claim 11, wherein moving the gripper fingers into the gripping configuration further comprises moving the gripping fingers laterally toward one another. ### Claim 15 (depends on 11) The method of claim 11, wherein after rotating the wheel to orient the tire pressure monitor system valve stem, the robotic wheel gripper unit positions the wheel on an assembly conveyor before releasing the wheel. ### Claim 16 (depends on 15) The method of claim 15, further comprising positioning a tire on the wheel after the wheel is positioned on the assembly conveyor. ### Claim 17 (depends on 16) The method of claim 16, inflating the tire after the tire is fully seated on the wheel.