Patent ID: 7946799

Claim:
A transfer apparatus comprising: a fixed base; a swivel; a lift mechanism for raising and lowering the swivel relative to the fixed base; a swivel mechanism for turning the swivel about a vertical swivel axis; a linear movement mechanism supported by the swivel; and a hand supported by the linear movement mechanism for transportation of a work along a linear horizontal travel stroke; wherein the lift mechanism includes N (N is an integer≧2) lift members arranged for telescopic expansion and retraction relative to the fixed base, and N drive motors each for raising and lowering a respective one of the lift members relative to the other lift member or members, wherein the swivel is supported by an uppermost one of the lift members; wherein the lift mechanism has a two-stage construction including a lower-stage first lift member and an upper-stage second lift member, the lift mechanism including a first lift drive mechanism for raising and lowering the first lift member relative to the fixed base, and a second lift drive mechanism for raising and lowering the second lift member relative to the first lift member while allowing the first lift member to be raised and lowered relative to the fixed base; and wherein the swivel mechanism includes: a primary rotation shaft supported by the fixed base, a secondary rotation shaft supported in parallel to the primary rotation shaft by the first lift member; a drive rotation shaft supported in parallel to the secondary rotation shaft by the second lift member; a first transmission member held by the first lift member incapably of axial relative movement thereto, around the primary rotation shaft incapably of relative rotation but capably of relative axial movement thereto, for transmission of rotation of the primary rotation shaft to the secondary rotation shaft; and a second transmission member held by the second lift member incapably of axial relative rotation thereto, around the secondary rotation shaft incapably of relative rotation but capably of relative axial movement thereto, for transmission of rotation of the secondary rotation shaft to the drive rotation shaft.