TRANSFER APPARATUS, AND CARGO EXTRACTING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a transfer apparatus capable of downsizing the apparatus and transferring a cargo stably.SOLUTION: A transfer apparatus 10 comprises: a holding part 21; a first moving mechanism 13; an elastic passive joint part 20; a moving conveyor 34; a second moving mechanism 16 and a base 12. The holding part 21 holds a cargo 53. The first moving mechanism 13 moves the holding part 21 linearly in at least two directions including a vertical direction and a back and forth direction perpendicular to the vertical direction. The elastic passive joint part 20 is interposed between the holding part 21 and the first moving mechanism 13, and performs an elastically passive copying operation in response to an external force. The moving conveyor 34 transfers the cargo 53. The second moving mechanism 16 is connected to the moving conveyor 34 and moves the moving conveyor 34 linearly in the at least two directions. The base 12 supports the first moving mechanism 13 and the second moving mechanism 16.SELECTED DRAWING: Figure 1B