Patent ID: 6942086

Claim:
A transfer apparatus for transferring a workpiece from a first location to a second location comprising: a support structure comprising a support member rotatable about a first axis; and a first drive motor for effecting rotation of said support member about said first axis; and a workpiece gripping structure mounted to said support structure comprising at least one workpiece gripping member having a workpiece-receiving surface, said gripping member being rotatable about a second axis substantially parallel to said first axis such that said gripping member is rotatable about said second axis during transfer of a workpiece from the first location to said workpiece-receiving surface, and said workpiece gripping structure further comprising a second drive motor for effecting rotation of said workpiece gripping member about said second axis, said workpiece grippin member also being rotatable about a third axis substantially perpendicular to said first and second axes so as to be capable of rotating said workpiece transferred to said workpiece-receiving surface through an angle, and said workpiece gripping structure further comprising a third drive motor for effecting rotation of said workpiece gripping member about said third axis, said first, second and third drive motors are independetly-controlled servo drive motors.