GRIPPING DEVICE WITH BERNOULLI GRIPPING UNIT AND VACUUM GRIPPING UNIT Russian patent published in 2022 - IPC B25J15/06 B65G47/91 

FIELD: machine building.

SUBSTANCE: invention can be used in manipulators. Gripping device for end effector (2) of manipulator (3) for holding workpiece (4) has a Bernoulli gripping unit (6) with outlet unit (7). Unit (7) is intended for discharge of flow (S_B) from Bernoulli gripping unit (6) between gripping device (1) and workpiece surface (5). At the same time creation of static reduced pressure is provided for retention of workpiece (4). There is a vacuum gripping unit (9) with suction chamber (10). In the area limited by suction chamber (10) — vacuum area (11) of low pressure, static low pressure is created to hold workpiece (4). Low-pressure Bernoulli region (8) and low-pressure vacuum region (11) can at least partially intersect or surround each other.

EFFECT: as a result, reliable gripping of workpieces of various sizes is provided.

15 cl, 5 dwg