Robot gripper

摘要

The gripper has a pair of fingers (208,210) for gripping the object (216), and a movable cam (206) with pivot points (212,214) for the fingers. The fingers have levers which extend out over the pivot points and which have slots (218,220). A movable pin (204) extends in the slots in the lever. Movement of the pin relative to the cam moves the lever, and the fingers rotate around the pivot points. If the fingers grip an object the lever cannot move relative to the pin, and the pin and cam are interlocked during movement of the pin.