JPH0825256A - Shifting device - Google Patents

Abstract

PURPOSE:To provide a shifting device capable of courteously putting shift objects at the bottom section of a deep container having a narrow opening. CONSTITUTION:When a shifting base 12 is moved to the first position (I), shift objects W are sucked and held by sucking members 35. When the shifting base 12 is moved to the second position (II), the sucking members 35 are moved to the position (b). The shifting base 12 is moved to the second position (II) by the cooperation of a cam and a rotary fulcrum reciprocatively rotated together with a small gear 26, and a driving arm 59 is rotated CC by the same drive source after the shifting base 12 is stopped at the second position (II). The CW rotating force is transferred to link plates 41, 42 from a connecting shaft 63, and the sucking members 35 are lowered on a nearly linear locus by the rotation of the link plates 41, 42 constituting a parallel link. The shift objects W are courteously put at the bottom section of a deep container 70.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device suitable for mounting an object to be transferred on the inner bottom of a container having a narrow opening or a deep container.

[0002]

2. Description of the Related Art FIG. 7 shows a conventional example of a transfer device using a suction member 1 as a holding means. The support body 2 supporting the suction member 1 is rotatably supported by shafts 4a and 4b at the front ends of the link plates 3a and 3b forming the parallel links, and the link plates 3a and 3b are Fixed base 6
On the other hand, it is rotatably supported by shafts 5a and 5b.
By applying a rotational power to one of the link plates 3a and 3b, the suction member 1 moves through the position indicated by the chain line to the position indicated by the solid line. The object W to be transferred is sucked and held by the suction member 1 at a position further rotated counterclockwise than the chain line state in FIG. 7, and when the solid line position is reached, the suction member 1
When the suction-holding of the transferred object W due to is released, the transferred object W is sequentially transferred to the bottom part in the container 7.

[0003]

In the transfer device shown in FIG. 7, since the suction member 1 moves due to the rotation of the parallel link, the suction member 1 moves along the locus S. The transferred object W sucked and held at 1 also moves along the trajectory S. Therefore, if the container 7 having a small opening size is installed, the suction member 1 or the transferred object W may hit the opening edge of the container 7. Therefore, only a container having a sufficiently wide opening can be used.

Further, since the depth H of the suction member 1 entering the container 7 through the opening is limited, in the case of a deep container, the suction member 1 inside the container 7 is separated from the bottom 7a of the container. The position. In the case of the deep container 7, the transferred object W
Is released from the bottom portion 7a at a position away from the bottom portion 7a, and is transferred so as to drop in the container 7. Therefore, the transferred objects W cannot be arranged in order from the bottom portion 7a of the container so that the transferred objects W are not properly aligned in the container 7. Further, in the case where the transferred object W is one that must be carefully placed in order from the bottom portion 7a of the deep container 7, such as a pack in which a medical drip solution or serum is enclosed, in FIG. Automatic work using a transfer device is difficult.

The present invention is to solve the above-mentioned conventional problems. Even when a container having a narrow opening and a deep opening is used, the objects to be transferred are carefully arranged in order from the bottom of the container. It is an object of the present invention to provide a transfer device capable of performing the above.

[0006]

According to the present invention, a transfer unit that moves between a first position and a second position and a rotary motion obtained from a drive source are transferred between the two positions of the transfer unit. Transfer power converting means for converting into a moving force and for moving the rotary motion by a predetermined amount (remaining motion) in a state where the transfer portion is stopped at the second position, and holding and releasing this holding object. A holding means that can be used, a supporting means that movably supports the holding means at the transfer section, and a holding means that is based on the aftermotion (remainder operation) of the rotational motion when the transfer section stops at the second position. It has an advancing / retreating drive means for advancing / retreating substantially linearly. For example, the transfer unit is composed of a transfer base that moves linearly horizontally between a first position and a second position with respect to a fixed base that serves as a fixed unit.

In the above, the transfer power conversion means has a rotation fulcrum which moves along a predetermined radius locus around an axis supported by the fixed part, and the rotation fulcrum provided on the transfer part and slides. The cam part converts the power into a moving force between the first position and the second position, and the transfer part is provided at the second part of the cam part.
It is possible to adopt a structure in which an after-movement portion (a surplus movement portion or a swinging portion) of the predetermined radius locus in which the rotation fulcrum moves at the position is formed.

Further, the supporting means is composed of a parallel link in which the holding means is supported at the tip end and the base end side is slidably supported by the transfer portion, and the advancing / retreating drive means is formed at a predetermined angle due to the extra movement of the rotational movement (remainder movement). And a drive arm that rotates and operates the parallel link by this rotation.

Further, it is preferable that the holding of the transferred object by the holding means is released when the holding means advances substantially linearly with the transfer section stopped at the second position.

[0010]

In the above means, when the transfer unit moves between the first position and the second position and the transfer unit stops at the second position, the rotational motion from the drive source is moved after the movement (remainder). The holding member moves back and forth by the action. For example, when the transfer section stops at the first position, the holding member holds the object to be placed, when the transfer section stops at the second position, and when the holding section advances substantially linearly, the transfer section moves by the holding section. If you release the holding of the load,
The object to be placed can be carefully placed on the inner bottom portion of the container having a narrow and deep opening provided so as to face the second position. On the contrary, when the transfer unit is stopped at the second position and the holding unit advances substantially linearly, the holding unit holds the object to be placed,
If the holding unit releases the holding when the transfer unit moves to the first position, it is possible to carefully take out the object to be placed from inside the deep container facing the second position.

Further, the rotational movement of the drive source is converted by the transfer power conversion means to be a moving force between the first position and the second position of the transfer section, and further the rotational movement from the same power source is driven back and forth. By the means, the holding means is converted into a substantially linear movement. By performing the movement of the transfer section and the substantially linear driving of the holding means by the same power source, a complicated movement of the holding means can be realized with the minimum driving source and simple drive control.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an arrangement of each member of a main part in an embodiment of a transfer device of the present invention, FIG. 2 is a plan sectional view of the transfer device,
3 and 4 are partial front views for explaining the movement operation of the transfer section by the transfer power conversion means, and FIGS. 5 and 6 show the support state of the holding means by the support means and the advancing / retreating drive means for each operation state. It is a partial front view. Reference numeral 1 in FIGS. 2, 3, and 4
Denoted by 0 is a fixed base. As shown in FIGS. 3 and 4, a guide rail 11 extending horizontally is fixed to the ceiling portion 10 a of the fixed base 10.
The transfer unit A is movably supported in the horizontal direction. The transfer section A has a transfer base 12 at the upper end, and the sliders 13, 1 fixed to the upper surface of the transfer base 12 are provided.
3 is slidably supported by the guide rail 11. FIG. 3 shows the state where the transfer unit A has moved to the first position (I), and FIG. 4 shows the state where the transfer unit A has moved to the second position (II). The transfer part A is supported by the ceiling part 10a of the fixed base 10 and moves between the first position (I) and the second position (II).

As shown in FIGS. 2 and 3, the fixed base 10
A pedestal 10b is integrally provided at an intermediate position in the vertical direction, and the motor M is installed as a drive source on the pedestal 10b. A reduction gear box G is integrally attached to the motor M, and rotational power of the motor M is decelerated by the reduction gear box G and output from the output shaft 14.
A pair of support bases 15 are fixed on the base 10b.
A support shaft 16 is fixed to the support base 15, and as shown in FIG. 2, a large gear 18 is rotatably supported on the support shaft 16 via a bearing 17. A link arm 19 is fixed to the output shaft 14 of the motor M, and both ends of a connecting rod 23 are connected to a connecting shaft 21 fixed to the link arm 19 and a connecting shaft 22 fixed to the large gear 18. The parts are rotatably connected. The power of the motor M is decelerated and the output shaft 14 continuously rotates at a constant rotation speed. A link arm 19 that continuously rotates with the output shaft 14.
Is applied to the large gear 18 by the connecting rod 23, and the large gear 18 reciprocally rotates about the support shaft 16. In the illustrated embodiment, the reciprocating rotation angle range of the large gear 18 is about 90 degrees.

Another set of support bases 24 is fixed on the base 10b. As shown in FIG. 2, a pair of bearings 27, 27 are fixed to the support base 24.
The drive shaft 25 is rotatably supported by. A small gear 26 is fixed to the drive shaft 25, and the small gear 26 meshes with the large gear 18. When the output shaft 14 and the link arm 19 rotate continuously and the large gear 18 reciprocally rotates within an angle range of about 90 degrees, the small gear 26 reciprocally rotates within an angle range slightly larger than 180 degrees. . Transfer power conversion means B is provided between the drive shaft 25 to which the small gear 26 is fixed and the transfer base 12 of the transfer section A. In this transfer power conversion means B, a rotary arm 30 is fixed to one end of a drive shaft 25, and a rotary fulcrum 31 is provided at the tip of the rotary arm 30. This rotation fulcrum 31 corresponds to the shaft 3 fixed to the tip of the rotation arm 30.
1a and a roller 3 that is rotatably mounted on the shaft 31a
1b and. The rotating arm 30 is rotated together with the small gear 26 by the drive shaft 25 in an angle range slightly larger than 180 degrees.

A cam plate 32 is fixed to the transfer base 12. A cam portion 33 is formed by a groove on the cam plate 32, and the roller 31b of the rotation fulcrum 31 has the cam portion 33.
Sliding while rolling in the groove. The upper part of the cam part 33 is a linear part 33a extending in the vertical direction, and the lower part is a residual part 33b.
Has become. As shown in FIG. 4, when the transfer portion A moves to the second position (II), the extra moving portion 33 of the cam portion 33 is moved.
b corresponds to a locus of a predetermined radius R centered on the drive shaft 25. Therefore, when the transfer portion A is in the second position (II), when the rotating arm 30 makes a rotational movement between (e) and (e) in the after-motion angle range indicated by α in FIG. The rotation fulcrum 31 only moves within the extra moving portion 33b, and the moving force does not act on the cam portion 33 and the transfer portion A from the rotation fulcrum 31. That is, the "movement part" 33b
Can also be referred to as an "excessive motion portion" or an "arc locus portion" or as an "oscillating portion" of the rotating arm.

Holding means C is supported on the transfer section A. The holding means C has a plurality of adsorption members 35 for adsorbing and holding an object W to be transferred such as a pack in which medical drip solution or serum is enclosed. The plurality of adsorption members 35 are arranged and provided on a horizontal plane with their adsorption surfaces facing downward. Each suction member 35 is supported by a holding base 36, and a holding link 37 is integrally fixed to the upper portion of the holding base 36. The transfer member A has the suction member 35.
Supporting means D of a parallel link mechanism for supporting the holding means C having The support shafts 43 and 4 are attached to the tips of the link plates 41 and 42 which form the parallel links.
4 are fixed respectively. Support holes 37a and 37b are formed in the holding link 37, and the support holes 37a and 37b
Bearings 45, 45 are held on the respective 7b. The support shafts 43 and 44 are inserted into the bearings 45 and 45,
The front ends of the link plates 41 and 42 are rotatably connected to the holding link 37.

The base ends of the respective link plates 41 and 42 are
It is supported by the sliding plate 46. Upper and lower support shafts 47 and 48 are fixed to the sliding plate 46, and the support shafts 47 and 48 are inserted into bearings 49 and 49 held at the base ends of the link plates 41 and 42. Each link 41
And 42 are rotatably supported by a sliding plate 46. A slide support plate 52 is fixed to the transfer base 12 of the transfer section A, and a slider 53 fixed to a slide plate 46 is supported against a guide rail 51 supported by the slide support plate 52.
Are slidably mounted. Therefore, the sliding plate 46 is supported slidably in the horizontal direction with respect to the sliding support plate 52. Further, the transfer section A is provided with advancing / retreating drive means E for advancing / retreating the suction member 35 of the holding means C substantially linearly in the vertical direction in the drawing.

In the advancing / retreating drive means E, a drive support plate 55 is fixed to the transfer base 12 of the transfer section A. As shown in FIG. 2, a bearing holder 56 is fixed to the lower end of the drive support plate 55, and a support shaft 58 is rotatably supported by a bearing 57 held by the bearing holder 56. A drive arm 59 is fixed to the support shaft 58. The center position of the lower link plate 41, that is, the support shaft 4
The bearing holder 61 is fixed at a position approximately at the center of the distance between 3 and 47, and the bearing 62 is held by the bearing holder 61. A connecting shaft 63 is fixed to the drive arm 59, and the connecting shaft 63 is rotatably inserted into the bearing 62. Drive shaft 2 to which the small gear 26 is fixed
A connecting arm 65 is fixed to the other end of the shaft 5, and a shaft 66 is fixed to the tip of the connecting arm 65.
A roller 67 is provided which rotates about the fulcrum. A groove 59a along the longitudinal direction is formed on the upper surface of the drive arm 59 in FIG. 2, and the roller 67 is inserted into the groove 59a so as to be rollable.

As shown in FIGS. 2 and 6, the transfer section A has a second position.
When moved to the position (II), the center of the support shaft 58, which is the center of rotation of the drive arm 59, coincides with the center of the drive shaft 25 on the same line O. Therefore, when the transfer part A moves to the second position (II), the rotating arm 30
The rotation centers of the connection arm 65 and the drive arm 59 are aligned on the same line, and the rotation arm 30, the connection arm 65, and the drive arm 59 are rotated together at the same angle phase about the same line O. Become.

Next, the operation of the transfer device having the above structure will be described. In this transfer device, when the transfer section A is moved to the first position (I), the suction member 35 of the holding means C is used.
However, it reaches the position of (a) shown in FIG. 5, and at this position, the transferred object W such as a pack in which the drip solution is sealed is adsorbed and held by each adsorbing member 35. After that, the transfer unit A moves to the second position (II), and the suction member 35 reaches the position (B). Further, as shown in FIG. 6, the suction member 35 advances substantially linearly downward from the position (b) to the position (c). At this position (c), the holding of the object W to be placed by the suction member 35 is released.
As shown in FIG. 6, the suction member 35 that suction-holds the object W is lowered substantially linearly from the position (b) to the position (c) and enters the container 70. Therefore, the opening of the container 70 is narrow. Further, even if the container 70 is deep, the mounting portion W is
Will be carefully and surely placed on the bottom 70a of the.

Further, when the object W is gradually supplied to the bottom 70a of the container 70 and is piled up, the container W is gradually lowered, and the object W is sequentially placed on the bottom 70a of the container 70. Can be placed on top of each other. In this transfer device, the motor M always exerts continuous rotary power in the same direction, the rotation is reduced by the reduction gear box G, and the output shaft 14 continuously rotates in a fixed direction at the reduced rotation speed. When the link arm 19 is rotated by the output shaft 14,
The large gear 18 reciprocally rotates in an angular range of approximately 90 degrees via the connecting rod 23. The small gear 26 meshing with the large gear 18 reciprocally rotates in an angle range slightly larger than 180 degrees.

A rotating arm 30 is fixed to the drive shaft 25 to which the small gear 26 is fixed, and the rotating arm 30 reciprocally rotates together with the small gear 26 in an angle range slightly larger than 180 degrees. Then, the rotation fulcrum 31 that rotates about the drive shaft 25 moves in the cam portion 33, and a linear movement force acts on the transfer portion A by this sliding force. Along with the reciprocating rotation of the rotating arm 30, the transfer unit A moves relative to the fixed base 10 at the first position (I) and the second position (I).
Move back and forth between I).

As shown in FIG. 3, when the rotating arm 30 reaches the counterclockwise limit position of reciprocating rotation with respect to the drive shaft 25, the transfer section A is moved to the first position (I). Reach While the rotating arm 30 rotates clockwise from the position shown in FIG. 3, the transfer portion A moves to the right in the figure due to the sliding of the rotation fulcrum 31 and the linear portion 33a of the cam portion 33. When the rotating arm 30 moves to the position (e) shown in FIG. 4, the transfer section A moves to the second position (II). After that, the rotation arm 30 moves from the position (e) to the position (e), and during this time, the rotation fulcrum 31 moves in the residual part 33b of the locus of the radius R below the cam part 33. Therefore, only the rotating arm 30 rotates clockwise while the transfer unit A is stopped at the second position (II). The position of () is the clockwise rotation limit position of the rotating arm 30, and the rotating arm 30 having reached the position of () returns to the counterclockwise direction and starts rotating. While the rotating arm 30 returns to the position (e) and rotates, the transfer unit A remains stopped at the second position (II), but the rotating arm 30 then rotates to the position (d). During that time, the transfer section A moves in the direction of the first position (I), and the transfer section A repeats the above-mentioned reciprocating movement as long as the motor M continues to exert the rotational power.

As shown in FIG. 5, when the transfer portion A is in the first position (I), the connecting arm 65 fixed to the drive shaft 25 together with the rotating arm 30 is the same as the rotating arm 30 ( D). Since the roller 67 at the tip of the connecting arm 65 is engaged in the groove 59a of the drive arm 59 supported by the drive support plate 55 of the transfer section A, the first
The drive arm 59 moved to the position (I) becomes the state shown in (g) in FIG. Since the connecting shaft 63 provided on the drive arm 59 is connected to the central portion of the lower link plate 41 of the parallel link, the link plates 41 and 42 are in the state shown by (h) in FIG. The suction member 35 is at the position (a). As described above, the suction member 35 receives the transferred object W at the position (a) and sucks and holds it.

When the drive shaft 25 rotates in the clockwise direction together with the small gear 26, the transfer portion A starts moving from the first position (I) to the right in the drawing, and at the same time, the rotating arm 30 and the connecting arm 65 move. Rotate clockwise from position (d). At this time, the drive arm 59 with which the roller 67 at the tip of the connecting arm 65 is engaged rotates slightly counterclockwise and then slightly clockwise. The rotation arm 30 is in the posture shown in (e) in FIG. 4, and the transfer portion A is in the second position (I).
When moved to I), the axes of the support shaft 58 rotatably provided on the drive support plate 55 of the transfer section A and the drive shaft 25 are on the same line O. The drive arm 59 is shown in FIG.
The connecting arm 65 and the rotating arm 30 in the depth direction of the paper.
It reaches the position of (e) where it overlaps.

Since the drive arm 59 and the link plate 41 are connected by the connecting shaft 63, the link plates 41 and 42, which are parallel links, are in the state of (i) in FIGS. 5 and 6, and the suction member 35. Reaches the position of (b) and faces above the container 70. As shown in FIG. 4, while the rotation arm 30 moves from the position (e) to the position (e), the rotation fulcrum 31 only makes a rotational movement within the extra moving portion 33b of the cam portion 33. , The transfer part A does not move from the second position (II). While the rotating arm 30 is rotating from the position (e) to the position (e), the connecting arm 65 and the drive arm 59 are put together in the positional relationship of (e) in the back direction of FIG. ) Rotate to the position. Drive arm 59 moves from position (e) to (e)
Link plate 4 forming a parallel link while rotating to the position
6, 1 and 42 rotate from the state shown in FIG. 6 to the state shown in FIG. 6, and the suction member 35 supported by the tips of the link plates 41 and 42 descends.

The drive arm 59 moves from the (e) position to the (e)
When rotating to the position (1), the connecting shaft 63 fixed to the drive arm 59 moves along the arc locus indicated by S1 in FIG. At this time, the sliding plate 46, which supports the base ends of the link plates 41 and 42, slides along the guide rail 51 in the right direction in FIG. 6, and absorbs the bulge δ of the locus S1. . In addition, the support shafts 43 and 4 at the tips of the link plates 41 and 42
4 tries to move along the circular arc locus shown by S2 in FIG. 6, but as the sliding plate 46 slides in the right direction in the figure as described above, the bulge of the circular arc locus S2 in the left direction in the figure is expanded. Are canceled out, and as a result, the suction member 35 descends from the position (b) to the position (c) in a substantially linear locus.

As described above, the object W is transferred to the bottom portion 70a of the container 70 having a deep dimension by the adsorbing member 35 which advances in a straight line for a certain long distance in a substantially linear locus. When the suction holding by the suction member 35 that has moved to the position of (C) is released, the transferred object W is transferred to the bottom portion 70 of the container 70.
placed in a. When the small gear 26 rotates in the counterclockwise direction, the link plates 41 and 42 forming the parallel link move from the position (n) to the position (d), and the suction member 3
5 moves up substantially linearly, then the transfer section A moves to the first position (I), and the suction member 35 reaches the position (A).

Contrary to the above embodiment, the suction member 35
When it reaches the position (c), the transfer target object W in the container 70 is suction-held, and when the suction member 35 reaches the position (a), the suction member 35 transfers the transfer target object W. It is also possible to cancel the adsorption holding of the above. Further, the holding means C is the suction member 3
The object to be transferred W is not limited to the one that sucks and holds the object to be transferred W by 5, and may be, for example, one that holds the object to be transferred W by grasping it with a claw. In the transfer device according to the above-described embodiment, the transfer portion A is moved by the power of the motor M to the first position (I) and the second position (I).
I) and the second position (II) by the same power of the motor M, the holding member C is moved substantially linearly. Since both the transfer section A and the holding member C are driven by a single motor, the structure can be simpler and the motor can be easily controlled as compared with the case where a large number of drive sources are provided.

Particularly, since the continuous rotation of the motor M is converted into the reciprocating rotary motion of the large gear 18 and the small gear 26,
Motor rotation control becomes very simple. Further, since the holding means C is supported by the transfer section A and the transfer section A moves, the transfer distance of the transferred object W held by the holding means C can be lengthened. It is also possible to provide a servomotor instead of the motor M as a drive source, and rotate the servomotor forward or backward to directly drive the large gear 18 or the drive shaft 25 to reciprocally rotate. By changing the rotation speed of the servo motor, the suction member 3
The moving speed of the holding means C having 5 can be controlled. Also, by changing the rotation angle of the servo motor,
In FIG. 6, the forward stroke length of the suction member 35 from (b) to (c) can be changed. By changing the forward stroke length, it is possible to install the transferred objects W in sequence on the bottom 70a of the container that is fixedly installed.

[0031]

As described above, according to the present invention, after the transfer portion reaches the second position (II), the holding means can move back and forth by a certain distance due to the extra movement of the rotational movement. Therefore, for example, it is possible to carefully place the transferred object on the bottom of the container having a narrow opening and a large depth. Further, since the transfer section and the holding means are moved by the common drive source, it is possible to move the transferred object in a slightly complicated locus by the minimum drive source.

[Brief description of drawings]

FIG. 1 is a perspective view showing a main part of a transfer device according to the present invention,

FIG. 2 is a plan sectional view of a transfer device,

FIG. 3 is a partial front view showing the operation of the transfer power conversion means when the transfer section reaches the first position,

FIG. 4 is a partial front view showing the operation of the transfer power conversion means when the transfer section reaches the second position,

FIG. 5 is a partial front view showing a moving state of the holding means while the transfer section is moving from the first position to the second position;

FIG. 6 is a partial front view showing a substantially linear advancing / retracting operation of the holding means when the transfer section reaches the second position;

FIG. 7 is a front view showing the structure of a conventional transfer device,

[Explanation of symbols]

 A transfer part B transfer power conversion means C holding means D support means E advance / retreat drive means M motor (I) first position (II) second position 10 fixed base 12 transfer base 14 output shaft 18 large gear 25 drive shaft 26 Small gear 30 Rotating arm 31 Rotating fulcrum 32 Cam plate 33 Cam portion 33b After movement portion 35 Adsorbing member 41, 42 Link plate constituting parallel link 46 Sliding plate 59 Drive arm 63 Connecting shaft 65 Connecting arm

Claims (4)

[Claims] 1. A transfer unit that moves between a first position and a second position; and a transfer unit that converts rotational movement obtained from a drive source into a moving force between the two positions of the transfer unit. In the second position, the transfer power converting means for moving the rotational movement by a predetermined amount, holding means for holding the transferred object and releasing the holding, and the holding section by the transfer section. A support means for supporting the means in a movable state, and an advancing / retreating drive means for advancing / retreating the holding means substantially linearly based on a residual movement of the rotational movement when the transfer portion is stopped at the second position. Transfer device. 2. The transfer power conversion means includes a rotation fulcrum that moves along a predetermined radius locus around an axis supported by a fixed part, and a sliding fulcrum provided on the transfer part so that the rotation fulcrum slides. To a moving position between a first position and a second position, the cam part having the predetermined radius with which the rotation fulcrum moves when the transfer part is in the second position. The transfer device according to claim 1, wherein a trailing movement portion is formed. 3. The supporting means comprises a parallel link in which the holding means is supported at the tip end and the base end side is slidably supported by the transfer portion, and the advancing / retreating drive means is rotated by a predetermined angle by the extra movement of the rotational movement. The transfer device according to claim 1 or 2, comprising a drive arm that operates the parallel link by rotation. 4. The transfer unit stopped at the second position,
4. The transfer device according to claim 1, wherein the holding means releases the holding of the transferred object when the holding means advances substantially linearly.