Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation

摘要

An end effector mechanism is provided which is adapted to be attached to a robot having means for moving the end effector mechanism in at least up and down and forward and reverse paths of travel. The end effector mechanism is characterized by a construction for gripping a generally flat textile article in a predetermined orientation and holding the textile article while maintaining at least one edge thereof in such predetermined orientation during transportation of the textile article by the robot and subsequently releasing the textile article. The end effector mechanism is in the form of a generally U-shaped member having a flat bottom surface for contact with the textile article and having needle gripping devices mounted for inward and outward movement from the forward free ends of the U-shaped member for gripping and releasing the textile article, while holding at least one edge thereof taut and in a predetermined orientation.