Pneumatic actuated cam driven parallel gripper

A pneumatic actuated cam driven parallel gripper comprising:

• a support bracket adapted for attachment to the end of an arm of a robot or a pick and place system;
• a cam comprising a cylindrical member supported for rotation in said bracket, said cam having at the outer periphery thereof diametrically opposed first and second pins;
• a lever attached to said cam;
• a pneumatic actuator coupled to said lever and adapted to rotate said lever and said cam between a first and second position;
• first and second horizontally disposed shafts attached to and extending from said bracket in opposite directions;
• first and second slides supported for sliding movement on said shafts on the two sides of said bracket;
• first and second arms each having one end attached to one of said first and second pins on said cylindrical member and another end attached to one of said slides for converting rotation of said cylindrical member into linear movement of said slides, each of said arms comprising a first part having, on the end thereof opposite an end attached to one of said first and second pins on said cylindrical member or to said slide, a stop means and containing an elongate slot intermediate said stop means and said attached end and a second part having one end adapted for attachment to the other of said cylindrical member and slide, containing at the other end thereof a third pin, said third pin extending through said elongate slot in said first part and a spring extending between said stop means and said third pin, biasing said third pin against one end of said slot;
• and
• fingers detachably attached to said slides.