Method and apparatus for automatic pick up of hosiery articles from a container

A method for automatically picking up at least one hosiery article from a container, comprising the steps of:

• a handling by means of an actuator, a grasping device starting from an initial position, said grasping device being suspended to a support integral to said actuator at a predetermined distance from said actuator and can be pushed to approach said support;
• moving said actuator, and said grasping device to said actuator, suspended, above a container containing said at least one hosiery article;
• lowering said actuator and the grasping device to said actuator suspended integrally to each other until said grasping device contacts a free surface of said at least one hosiery article, said actuator continuing to be lowered according to a brief additional stroke, said grasping device delaying closure even after a first contact with said free surface of said at least one hosiery article, at the end of said additional stroke said support being approached to said grasping device;
• detecting the presence of said support as said grasping device approaches said support and subsequent closure of said grasping device onto said at least one hosiery article, grasping at least one of said at least one hosiery article;
• moving said grasping device by means of said actuator from a pick up position to an unloading station where said grasping device opens and releases said at least one hosiery article on a loading plane of a finishing machine;
• moving said grasping device back to a starting position above said container for a next picking up step.