Patent ID: 6935830

Claim:
An apparatus comprising an end effector for transporting articles between different stations, the end effector holding an article as the article is being transported between different stations, the end effector comprising: a rotational member for contacting and rotating an article held by the end effector; a body relative to which the rotational member and the article held by the end effector are rotatable; and a device for pressing the article against the rotational member when the end effector is holding the article; wherein the device comprises a vortex chuck mounted in the body to emit a gas vortex towards the article; wherein the rotational member is movable relative to the body in a direction away from the article to yield when the end effector is holding the article and is pressing the article against a surface not belonging to the article and not belonging to the end effector; wherein the apparatus further comprises a spring plate rigidly attached to the body and contacting the member on a side opposite from the article, to prevent uncontrollable rotation of the member and to allow the member to yield when the end effector is holding the article and is pressing the article against the surface not belonging to the article and not belonging to the end effector.