Tire mounting method

A tire mounting method carried out by a tire mounting apparatus, including a first working mechanism having a first robot body including tire grippers and nut tighteners, and a second working mechanism having a camera and a second robot body including a rotational shaft for tightening nuts, wherein the first robot body and the second robot body are operable by a controller, and the first working mechanism and the second working mechanism are separate from each other,

• the tire mounting method comprising:
• a nut holding step of holding a plurality of nuts on the nut tighteners of the first working mechanism;
• a tire gripping step of gripping a tire with the tire grippers of the first working mechanism;
• a moving step of moving the first working mechanism to a mounting ready position;
• a displacement quantity calculating step of capturing an image of a tire mounting position by the camera of the second working mechanism and calculating a displacement quantity of the first working mechanism based on image information acquired from the image captured by the camera;
• a tire positioning step of positioning the tire with respect to a tire mounting region of a motor vehicle with the first working mechanism based on the displacement quantity;
• a coupling step of coupling the rotational shaft of the second working mechanism to the nut tighteners of the first working mechanism while the tire is gripped by the tire grippers of the first working mechanism, by moving the second working mechanism based on a position of the first working mechanism after the tire positioning step;
• and
• a nut tightening step of transmitting rotational drive power from the rotational shaft of the second working mechanism to the nut tighteners of the first working mechanism in order to tighten the nuts respectively on a plurality of hub bolts of the motor vehicle.