MANIPULATOR WITH HAND Russian patent published in 2019 - IPC B25J11/00 B25J17/02 B21J15/10 B25J15/00 

FIELD: physics.

SUBSTANCE: invention relates to manipulator with hand (5) of manipulator, on free end (6) of which there is flange (8) of manipulator, on which end effector (46) is installed with application device (9.1, 9.2, 9.3) for processing workpiece (37), wherein manipulator flange (8) is installed with possibility of rotation around hand axes (20, 21, 22), and first hand axis (20) passes in longitudinal direction (18) of manipulator hand (5), second hand axis (21) passes across first axis (20) of hand, and the hand third axis (22) passes across the second hand axis (21), characterized in that end effector (46) is rotatably mounted on hand joint (7) of arm (5) of the manipulator, wherein end effector (46) comprises several application devices (9.1, 9.2, 9.3), following one after another in circumferential direction on side surface (38) of imaginary cone (39), wherein application device (9.1, 9.2, 9.3) is installed with possibility of movement into active working position due to rotation of flange (8) of manipulator around third axis (22) of hand.

EFFECT: technical result is a manipulator with a hand, comprising several application devices, which enables to reduce the duration of the process.

4 cl, 7 dwg