Abstract: An industrial robot for gripping workpieces of diverse shape comprises at least one finger preferably two arranged for pivotal movement on respective sides of the workpiece. Each finger has at least one workpiece engagement member or joint which is movable thereon. Fluid pressure operated means are connected to the workpiece engagement member or joint so that it is moved outwardly from the associated finger to engage the workpiece and to be locked in the engaged position so that it will reengage in the same position after the finger is shifted relative to the workpiece to reengage it.

Abstract: The device is for use in a sewing unit including a sewing machine and includes a vertically oriented relatively elongated intermediate plate separating two plies of material in advance of the sewing machine. Guide elements adjacent the intermediate plate support a clasping station for movement longitudinally of the intermediate plate. The clasping station includes a support mounting two clasps each selectively engageable with a respective ply of material. Photoelectric sensing devices are movable with the clasping station, and include respective sensing devices operatively associated with each ply of material and each operable to control engagement of a respective clasp with the associated ply of material responsive to sensing of the trailing edge of the associated ply of material. A counterweight arrangement exerts an adjustable pull on the clasping station in a direction opposite to the feed direction of the plies of material.