END EFFECTOR SYSTEM Russian patent published in 2021 - IPC B25J15/00 B25J15/06 

FIELD: engineering.

SUBSTANCE: invention relates to an end effector system provided with an end effector for a manipulator and control for the end effector, to a method for controlling the end effector system, and to a manipulator with at least three axes and an end effector system. The end effector has a tool system with gripping apparatuses for retaining the workpiece along the surface of the tool, an executive system by means of repositioning whereof the gripping apparatuses of the tool system can be repositioned relative to each other. The gripper apparatus has a Bernoulli gripping assembly with an outlet assembly for discharging an air flow from the Bernoulli gripping assembly between the gripping apparatus and the surface of the workpiece so that said flow in the area between the gripping apparatus and the surface of the workpiece creates a static underpressure to retain the workpiece, and the gripping apparatus has a vacuum gripping assembly with a suction chamber. The control is intended to switch the end effector between retaining the workpiece by means of the Bernoulli gripping assembly and retaining by means of at least the vacuum gripping assembly, when retaining the workpiece.

EFFECT: invention ensures flexible manipulation of workpieces of different sizes at high speeds.

18 cl, 6 dwg