Holding mechanism, transfer device, handling robot system, and robot handling method

A holding mechanism comprising:

• a first holding part;
• a second holding part facing the first holding part in a first direction, the first direction being an approximately horizontal direction;
• a first guide connected to the first holding part and capable of moving the first holding part in the first direction;
• a second guide connected to the second holding part and capable of moving the second holding part in the first direction;
• a third guide capable of moving the first guide in the first direction;
• a fourth guide capable of moving the second guide in the first direction, and aligned with the third guide in the first direction;
• a drive mechanism that changes a distance between the first holding part and the second holding part;
• and
• a control device configured to estimate a shape of an object to be held, wherein
• the first holding part and the second holding part are movable in a second direction intersecting with the first direction, the second direction being an approximately vertical direction,
• each of the first holding part and the second holding part includes:
• a second detector that detects a displacement amount in the second direction, and
• an elastic part that applies an elastic force in the second direction,
• the second detector is aligned with the elastic part in the second direction, and
• the control device estimates the shape of the object based on the displacement amount.